CN106426199B - A kind of marble ejection mechanism for intelligent carriage - Google Patents
A kind of marble ejection mechanism for intelligent carriage Download PDFInfo
- Publication number
- CN106426199B CN106426199B CN201610893114.2A CN201610893114A CN106426199B CN 106426199 B CN106426199 B CN 106426199B CN 201610893114 A CN201610893114 A CN 201610893114A CN 106426199 B CN106426199 B CN 106426199B
- Authority
- CN
- China
- Prior art keywords
- marble
- intelligent carriage
- mounting plate
- ejection
- push
- 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.)
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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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B65/00—Implements for throwing ; Mechanical projectors, e.g. using spring force
- A63B65/12—Ball-throwing apparatus with or without catchers ; Mechanical projectors, e.g. using spring force
- A63B65/127—Means for throwing or catching balls, attached to the foot
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a kind of marble ejection mechanisms for intelligent carriage, including mounting plate, the side of mounting plate is fixed with four marble guide rods in equilateral quadrangle, marble guide rod is socketed with two layers of frame board, circular through hole is both provided in the middle part of frame board, run through flexible push rod in the middle part of mounting plate, the front end of resilient push can in circular through hole stretching motion back and forth, extend the other side of mounting plate in the rear end of resilient push, the other side of mounting plate is equipped with Sine Driving Mechanism, the driving input terminal of Sine Driving Mechanism is connected with driving motor, the drive output of Sine Driving Mechanism is connected with resilient push, Sine Driving Mechanism drives resilient push to carry out elastic telescopic movement, for marble to be ejected.The present invention can be mounted on intelligent carriage, can be held up marble and be launched away, and convenient for developing the function that intelligent carriage can play basketball, delivery altitude is high, and stability is good, has a good application prospect.
Description
Technical field
The present invention relates to intelligent robot technology fields, and in particular to a kind of marble ejection mechanism for intelligent carriage.
Background technology
With the fast development of electronic intelligence, intelligent robot has obtained extensive popularization and application.The electronics of national property
Design match good can train a large amount of relevant talent of smart electronics, currently, for occurring various types on the market
Intelligent carriage, can be convenient for manipulation, flexibly travel, still, in addition to the function of traveling, other functions are limited, for example, how to have
There is ejecting function, so as to the function that concrete intelligence trolley can play basketball, still, existing intelligent carriage cannot achieve, such as
What design marble trigger mechanism is core key, is current problem to be solved.
Invention content
The purpose of the present invention is overcoming existing intelligent carriage, the problem of ejecting function can not be carried out.The present invention's is used for
The marble ejection mechanism of intelligent carriage, is easily installed on intelligent carriage, can hold up marble and launch away, forms projection marble
Function, convenient for developing the function that intelligent carriage can play basketball, delivery altitude is high, and stability is good, before having good application
Scape.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of marble ejection mechanism for intelligent carriage, it is characterised in that：Including mounting plate, the installation is fixed
The side of plate is fixed with four marble guide rods in equilateral quadrangle, and the marble guide rod is socketed with two layers of frame board, institute
It states and is both provided with circular through hole in the middle part of frame board, flexible push rod, the resilient push are run through in the middle part of the mounting plate
Front end can the another of mounting plate be extended in stretching motion, the rear end of the resilient push back and forth in circular through hole
The other side of side, the mounting plate is equipped with Sine Driving Mechanism, driving input terminal and the drive of the Sine Driving Mechanism
Dynamic motor is connected, and the drive output of the Sine Driving Mechanism is connected with resilient push, and the Sine Driving Mechanism is driven
Dynamic elasticity push rod carries out elastic telescopic movement, for ejecting marble.
A kind of marble ejection mechanism for intelligent carriage above-mentioned, it is characterised in that：The marble guide rod uses PC
Pipe is made.
A kind of marble ejection mechanism for intelligent carriage above-mentioned, it is characterised in that：Each marble guide rod is square
Distribution enters the ejection region that each marble guide rod surrounds for being oriented to marble, its edge is fallen into after marble enter ejection region
Enter to be located in the circular through hole of outside frame board.
A kind of marble ejection mechanism for intelligent carriage above-mentioned, it is characterised in that：The resilient push includes ejection
Baffle ring, push rod, spring, drive connection part, the ejection baffle ring is resilient push front end, for contacting and launching marble, institute
It states ejection baffle ring and is mounted on the front end of push rod, and extend the other side of mounting plate, the spring is socketed on push rod,
And positioned at close to the side of ejection baffle ring, the drive connection part is mounted on the rear end of push rod, for connecting sinusoidal drive machine
The drive output of structure.
A kind of marble ejection mechanism for intelligent carriage above-mentioned, it is characterised in that：The push rod uses carbon fiber material
Material is made.
A kind of marble ejection mechanism for intelligent carriage above-mentioned, it is characterised in that：The ejection baffle ring is printed using D
It forms.
A kind of marble ejection mechanism for intelligent carriage above-mentioned, it is characterised in that：The Sine Driving Mechanism includes
Unilateral bearing, crankshaft-link rod, the inner wall of the unilateral bearing and the output revolving shaft of Sine Driving Mechanism are keyed, the one-way shaft
One end of the outer wall and crankshaft-link rod that hold is keyed, and the crankshaft-link rod is arranged in the drive connection part of resilient push, described
The other end of crankshaft-link rod extends drive connection part.
A kind of marble ejection mechanism for intelligent carriage above-mentioned, it is characterised in that：The mounting plate it is another
Side is provided with the first connecting seat of opposition setting, the second connecting seat, and the driving motor is mounted on the first connecting seat, the song
The other end of axis connecting rod is hinged on the second connecting seat.
The beneficial effects of the invention are as follows：The marble ejection mechanism for intelligent carriage of the present invention, is easily installed in intelligence
On trolley, marble can be held up, and launch, form the function of projection marble, can play basketball convenient for developing intelligent carriage
Function, delivery altitude is high, and stability is good, has a good application prospect.
Description of the drawings
Fig. 1 is the structural schematic diagram of the marble ejection mechanism for intelligent carriage of the present invention.
Fig. 2 is the structural schematic diagram of the resilient push of the present invention.
The meaning marked in attached drawing is as follows：
1：Mounting plate；2：Marble guide rod；3：Frame board；4：Circular through hole；5：Resilient push；501：Ejection gear
Ring；502：Push rod；503：Spring；504：Drive connection part；6：Sine Driving Mechanism；601：Unilateral bearing；602：Crankshaft-link rod；
7：Driving motor；8：First connecting seat；9：Second connecting seat.
Specific implementation mode
Below in conjunction with Figure of description, the present invention is further illustrated.
As shown in Figures 1 and 2, the marble ejection mechanism for intelligent carriage of the invention, including mounting plate 1, peace
Filling fixed plate 1 can be mounted on intelligent carriage, and 1 tilt adjustable of mounting plate can adjust the angle of ejection, institute in this way
The marble guide rod 2 that the side of mounting plate 1 is fixed with four in equilateral quadrangle is stated, the marble guide rod 2 is socketed with
The middle part of two layers of frame board 3, the frame board 3 is both provided with circular through hole 4, and 1 middle part of the mounting plate is through flexible
Push rod 5, the front end of the resilient push 5 can in circular through hole 4 stretching motion back and forth, the rear end of the resilient push 5
Extend the other side of mounting plate 1, the other side of the mounting plate 1 is equipped with Sine Driving Mechanism 6, the sine
The driving input terminal of driving mechanism 6 is connected with driving motor 7, and drive output and the elasticity of the Sine Driving Mechanism 6 push away
Bar 5 is connected, and the Sine Driving Mechanism 6 drives resilient push 5 to carry out elastic telescopic movement, for ejecting marble.
The marble guide rod 2 is made of PC pipes, and square distribution may be selected in each marble guide rod 2（Diamond shape also may be used
With）, square effect is more preferable, enters the ejection region that each marble guide rod 2 surrounds for being oriented to marble, marble enter ejection zone
Its edge is absorbed in the circular through hole 4 of outside frame board 3 behind domain, starts the work for conveniently taking marble and direction of ejection to be oriented to
With.
As shown in Fig. 2, the resilient push 5 includes ejection baffle ring 501, push rod 502, spring 503, drive connection part 504,
The ejection baffle ring 501 is 5 front end of resilient push, and for contacting and launching marble, the ejection baffle ring 501 is mounted on push rod
502 front end, and extend the other side of mounting plate 1, the spring 503 is socketed on push rod 502, and positioned at close
The side of baffle ring 501 is launched, the drive connection part 504 is mounted on the rear end of push rod 502, for connecting Sine Driving Mechanism
6 drive output.
The push rod 502 is made of carbon fibre material, and ejection baffle ring 501 is formed using 3D printing, makes the weight of the two
Gently, when being bounced by spring, speed is improved, ensures ejection effect.
The Sine Driving Mechanism 6 can be that the spring 503 in resilient push 5 gathers elastic potential energy, and quickly triggers bullet
Property push rod 5 in spring 503 discharge elastic potential energy, reliable in action ensures the quick pop-up of marble, including unilateral bearing 601, bent
Axis connecting rod 602, the inner wall of the unilateral bearing 601 are keyed with the output revolving shaft of Sine Driving Mechanism 6, the unilateral bearing
601 outer wall is keyed with one end of crankshaft-link rod 602, and the drive connection part in resilient push 5 is arranged in the crankshaft-link rod 602
In 504, the other end of the crankshaft-link rod 602 extends drive connection part 504, and operation principle is as follows：Sine Driving Mechanism 6
It being engaged with unilateral bearing 601 after output revolving shaft rotation, unilateral bearing 601 rotates, and drives the rotation of crankshaft-link rod 602,
It realizes post-tensioning drive connection part 504, gathers elastic potential energy at this time for spring 503, when the output revolving shaft of Sine Driving Mechanism 6 continues
Rotation, after reaching the limit point that the output revolving shaft of Sine Driving Mechanism 6 is engaged with unilateral bearing 601, unilateral bearing 601 is converted to
Bearing function（Aclusion effect）, the reaction force triggering of spring 503 draws before drive connection part 504, crankshaft-link rod 602 it is anti-
To rotation, unilateral bearing 602 rotates on the output revolving shaft of Sine Driving Mechanism 6, meanwhile, spring 503 discharges elastic potential energy, soon
Speed pops up marble, realizes ejection process.
The other side of the mounting plate 1 is provided with the first connecting seat 8 of opposition setting, the second connecting seat 9, the drive
Dynamic motor 7 is mounted on the first connecting seat 8, and the other end of the crankshaft-link rod 602 is hinged on the second connecting seat 9.
In conclusion the marble ejection mechanism for intelligent carriage of the present invention, is easily installed on intelligent carriage, it can
Marble are held up, and are launched, the function of projection marble is formed, convenient for developing the function that intelligent carriage can play basketball, projection
Height is high, and stability is good, has a good application prospect.
The basic principles and main features and advantage of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the originals of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (8)
1. a kind of marble ejection mechanism for intelligent carriage, it is characterised in that：Including mounting plate（1）, the installation is admittedly
Fixed board（1）Side be fixed with four in equilateral quadrangle distribution marble guide rods（2）, the marble guide rod（2）Socket
There is two layers of frame board（3）, the frame board（3）Middle part be both provided with circular through hole（4）, the mounting plate（1）Middle part
Through flexible push rod（5）, the resilient push（5）Front end can be in circular through hole（4）Inside stretching motion back and forth, the bullet
Property push rod（5）Rear end extend mounting plate（1）The other side, the mounting plate（1）The other side be equipped with
Sine Driving Mechanism（6）, the Sine Driving Mechanism（6）Driving input terminal and driving motor（7）It is connected, the sinusoidal drive
Motivation structure（6）Drive output and resilient push（5）It is connected, the Sine Driving Mechanism（6）Drive resilient push（5）Into
Row elastic telescopic moves, for ejecting marble.
2. a kind of marble ejection mechanism for intelligent carriage according to claim 1, it is characterised in that：The marble are led
To bar（2）It is made of PC pipes.
3. a kind of marble ejection mechanism for intelligent carriage according to claim 1 or 2, it is characterised in that：Each marble
Guide rod（2）Square distribution enters each marble guide rod for being oriented to marble（2）The ejection region surrounded, marble enter
Its edge is absorbed in positioned at outside frame board behind ejection region（3）Circular through hole（4）It is interior.
4. a kind of marble ejection mechanism for intelligent carriage according to claim 1, it is characterised in that：The elasticity pushes away
Bar（5）Including launching baffle ring（501）, push rod（502）, spring（503）, drive connection part（504）, the ejection baffle ring（501）
For resilient push（5）Front end, for contacting and launching marble, the ejection baffle ring（501）Mounted on push rod（502）Front end
Portion, and extend mounting plate（1）The other side, the spring（503）It is socketed in push rod（502）On, and positioned at by short round
Penetrate baffle ring（501）Side, the drive connection part（504）Mounted on push rod（502）Rear end, for connecting sinusoidal drive
Mechanism（6）Drive output.
5. a kind of marble ejection mechanism for intelligent carriage according to claim 4, it is characterised in that：The push rod
（502）It is made of carbon fibre material.
6. a kind of marble ejection mechanism for intelligent carriage according to claim 4, it is characterised in that：The ejection gear
Ring（501）It is formed using 3D printing.
7. a kind of marble ejection mechanism for intelligent carriage according to claim 1 or 4, it is characterised in that：It is described just
String driving mechanism（6）Including unilateral bearing（601）, crankshaft-link rod（602）, the unilateral bearing（601）Inner wall driven with sinusoidal
Motivation structure（6）Output revolving shaft key connection, the unilateral bearing（601）Outer wall and crankshaft-link rod（602）One end key connection,
The crankshaft-link rod（602）It is arranged in resilient push（5）Drive connection part（504）It is interior, the crankshaft-link rod（602）It is another
Extend drive connection part in end（504）.
8. a kind of marble ejection mechanism for intelligent carriage according to claim 7, it is characterised in that：The installation is solid
Fixed board（1）The other side be provided with opposition setting the first connecting seat（8）, the second connecting seat（9）, the driving motor（7）Peace
Mounted in the first connecting seat（8）On, the crankshaft-link rod（602）The other end be hinged on the second connecting seat（9）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610893114.2A CN106426199B (en) | 2016-10-13 | 2016-10-13 | A kind of marble ejection mechanism for intelligent carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610893114.2A CN106426199B (en) | 2016-10-13 | 2016-10-13 | A kind of marble ejection mechanism for intelligent carriage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426199A CN106426199A (en) | 2017-02-22 |
| CN106426199B true CN106426199B (en) | 2018-07-24 |
Family
ID=58174955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610893114.2A Active CN106426199B (en) | 2016-10-13 | 2016-10-13 | A kind of marble ejection mechanism for intelligent carriage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426199B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125916B (en) * | 2019-06-21 | 2022-05-10 | 重庆大学 | Bionic color-changing tongue actuator |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102475961A (en) * | 2010-11-23 | 2012-05-30 | 山东理工大学 | Football serving device |
| US9010309B2 (en) * | 2011-11-02 | 2015-04-21 | Toca, Llc | Ball throwing machine and method |
| CN203001920U (en) * | 2012-07-02 | 2013-06-19 | 燕山大学 | Intelligence development pitching machine |
| CN104888450A (en) * | 2014-03-05 | 2015-09-09 | 智高实业股份有限公司 | Football building block unit |
| CN206185881U (en) * | 2016-10-13 | 2017-05-24 | 镇江高等职业技术学校 | A marble ejection mechanism for intelligent vehicle |
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2016
- 2016-10-13 CN CN201610893114.2A patent/CN106426199B/en active Active
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| Publication number | Publication date |
|---|---|
| CN106426199A (en) | 2017-02-22 |
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