CN107456745A - A kind of Basketball Tactical training machine people - Google Patents
A kind of Basketball Tactical training machine people Download PDFInfo
- Publication number
- CN107456745A CN107456745A CN201710918972.2A CN201710918972A CN107456745A CN 107456745 A CN107456745 A CN 107456745A CN 201710918972 A CN201710918972 A CN 201710918972A CN 107456745 A CN107456745 A CN 107456745A
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- China
- Prior art keywords
- mechanical arm
- robot
- machine people
- training machine
- basketball
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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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0071—Training appliances or apparatus for special sports for basketball
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Basketball Tactical training machine people, the robot includes mobile base, robot trunk, swings mechanical arm three parts, the swing mechanical arm can be swung up and down, it is two, it is connected respectively with the robot trunk both sides, the lower end of the robot trunk is connected with for the mobile base of robot movement.The present invention realizes the purpose that Basketball Tactical and simple man-machine training are intuitively drilled using robot, is capable of the displaying tactics route and training basketball joint defence tactics of precise and high efficiency；Explained compared with coach, robot is more directly perceived as model, significantly reduces the pressure of coach, also provides an example simultaneously for domestic educational robot field.
Description
Technical field
The present invention relates to sports instructional technology field, especially a kind of Basketball Tactical training machine people.
Background technology
Now for the teaching of Basketball Tactical, explained mostly by training, or by having religion with multimedia meanses, broadcasting
Learn the basketball training video of meaning；Explained on one side by coach, the mode of student oneself rehearsal is cultivated, excites basketball beginner's
Tactical consciousness, and learn how reasonable utilization tactics.But the above method is not directly perceived enough in the presence of explaining for beginner, lacks imitation
It is difficult that object causes to start, and does not understand that coach says content and carries out the shortcomings of actual combat is easy to injury.
With the development of society, robot is entered by industry among the life of people, the robot that the country is used to impart knowledge to students is more
For voice interface robot, children teaching toy and contest robot, and existing robot does not focus on robot and people
Member's protection, add the risk of robot damage and injury to personnel.And the robot for being used for usually physical education is extremely rare, and
It is mostly sports equipment transportation robot, pitching, pitching robot etc..Demonstration can be so played to Basketball Tactical and training is made
Robot is then particularly important.
The content of the invention
Not directly perceived enough, shortage third dimension is explained for above-mentioned Basketball Tactical Teaching method used in the prior art, is led
Beginner is caused to imitate difficult, it is impossible to fully understand that coach says content, so that beginner is further easy to injury under battle conditions
Shortcoming, the present invention provide a kind of Basketball Tactical training machine people.
Solve the problems, such as above-mentioned to realize, the invention provides a kind of Basketball Tactical training machine people, the robot
Including mobile base, robot trunk, mechanical arm three parts are swung, the swing mechanical arm can be swung up and down, and it is two, point
It is not connected with the robot trunk both sides, the lower end of the robot trunk and the mobile base for robot movement
It is connected.
Wherein, the mobile base includes bed frame, drive train and base armor, bed frame upper end with it is described
Robot trunk lower end connects, and the bed frame lower end connects the drive train, and the drive train includes four omnidirectionals
Wheel, four omni-directional wheels are set using vertical arrangement mode, independently driven by second servomotor respectively so that institute
State robot comprehensive to turn to, the base armor profile is cylindric, itself and the bed frame bolt connection, to base
Shield.
Wherein, the wheel shaft of the omni-directional wheel is through the axle hole on bed frame, and axle hole goes out to be provided with bearing, described
Wheel shaft is with extending axis connection, and the extending shaft is socketed with wheel shaft bracing ring, and extending shaft is provided with wheel shaft bracing ring junction
Bearing, the wheel shaft bracing ring are connected by screw with bed frame, and the wheel shaft extending shaft is connected with servo motor output shaft.
Wherein, the outer layer of the base armor uses makrolon material.
Wherein, the robot trunk is generally up-narrow and down-wide " bell " cavity structure, and its middle and upper part left and right ends is opened
Groove, centre are provided with " T-shaped " mechanical arm installing plate, and the swing mechanical arm is connected with the mechanical arm installing plate.
Wherein, the swing mechanical arm includes mechanical arm frame, mechanical arm swing rod CD, the first servomotor and crank
AB, bar BC, mechanical arm main body, the A ends of the crank AB and the output axis connection of the servomotor, make it turn around the A ends
Dynamic, its B end and the B ends of the bar BC are hinged, and the C-terminal of the bar BC is connected with the C-terminal of the mechanical arm swing rod CD, the machinery
Arm swing rod CD D ends are connected with the mechanical arm frame, and the mechanical arm swing rod CD is connected with the mechanical arm main body, and synchronous
Motion, first servomotor are arranged in the mechanical arm frame, mechanical described in the first servomotor rotary drive
Arm pendulum CD is swung up and down at an angle, so as to which driving mechanical arm main body is swung up and down.
Wherein, the robot is also wrapped in the overcoat of outside, and the overcoat includes preventing gas sheath, described
Preventing gas sheath use the anti-vibration protected airbag of glass ceramics used in express transportation.
Wherein, described preventing gas sheath is the plate first formula design of left and right two, is easy to robot to install.
Wherein, the outside of the preventing gas sheath is provided with sponge profile overcoat, and the sponge profile overcoat uses
Sponge image, for the plate first formula design of left and right two, its inner side is bonded with the preventing gas sheath.
Wherein, image collecting device and the sensor for ranging are provided with the sponge profile overcoat.
Compared with prior art, beneficial effects of the present invention be realize intuitively drilled using robot Basketball Tactical with
And the purpose of simple man-machine training, it is capable of the displaying tactics route of precise and high efficiency and trains basketball joint defence tactics；Said compared with coach
Solution, robot is more directly perceived as model, significantly reduces the pressure of coach, is also led simultaneously for domestic educational robot
Domain provides an example.
Brief description of the drawings
Fig. 1 is the overall structure main structure diagram provided by the present invention for Basketball Tactical image training robot；
Fig. 2 is the main structure diagram of swing mechanical arm provided by the present invention；
Fig. 3 is the dimensional structure diagram of swing mechanical arm provided by the present invention；
Fig. 4 is the main structure diagram of robot trunk provided by the present invention；
Fig. 5 is the dimensional structure diagram of robot trunk provided by the present invention；
Fig. 6 is the schematic diagram of omnidirectional wheel structure first provided by the present invention；
Fig. 7 is the schematic diagram of omnidirectional wheel structure second provided by the present invention；
Fig. 8 is mobile base dimensional structure diagram provided by the present invention；
Fig. 9 is mobile base present invention looks up structural representation provided by the present invention；
Figure 10 is two plate first formulas of left and right design used in preventing gas sheath provided by the present invention and sponge profile overcoat
Schematic diagram；
Drawing reference numeral explanation：
In Fig. 1：1. swing mechanical arm, 2. robot trunks, 3. mobile bases；
Fig. 2, Fig. 3：11. mechanical arm frame, 12. mechanical arm swing rod CD, 13. first servomotors, 14. crank AB, 15. bars
BC, 16. mechanical arm main bodys；
Fig. 8：31. base armor, 32. omni-directional wheels, 33. bed frames, 34. second servomotors, 35. omni-directional wheels extend
Axle, 36. wheel shaft bracing rings.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It is it should be appreciated that described herein
Specific embodiment only to explain the present invention, be not intended to limit the present invention.
It should be noted that " connection " described herein and the word for expressing " connection ", such as " being connected ",
" connected " etc., both it was directly connected to including a certain part and another part, and also passed through miscellaneous part and another portion including a certain part
Part is connected.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.
Shown in Fig. 1, the invention mainly comprises swing 3 three mechanical arm 1, robot trunk 2, mobile base parts.
Fig. 4 and Fig. 5 illustrates " T-shaped " structure of mechanical arm installing plate and " bell " structure of robot trunk 2, by two
Individual swing mechanical arm 1 is separately mounted to the left and right sides.
Fig. 2 and Fig. 3 swing mechanical arm 1 uses crank and rocker mechanism；Wherein, the first servomotor 13 is with crank AB14's
A ends are connected driving crank AB14 around the rotation of A ends, and mechanical arm swing rod CD12 is driven under certain angle by crank and rocker mechanism
Backswing is moved, and mechanical arm main body 1 is fixed on synchronous motion on mechanical arm swing rod CD12 so that swings mechanical arm 1 at certain angle
Lower swing is spent, the defensive action of cager is imitated, simply expands floor coverage.
Fig. 8 illustrates the layout of the drive train of robot mobile base 3.Fig. 6, Fig. 7 are the structural representation of omni-directional wheel；
Fig. 9 is the structural representation of mobile base.
Single omni-directional wheel extending shaft 35 is designed as stepped in drive train, with bed frame 33 and wheel shaft bracing ring 36
Coordinate and determine train installation site, drive train uses the vertical arrangement mode of four omni-directional wheel 32, and four of the drive train are entirely
Driven to wheel 32 by four servomotors 34 are independent, straight trip, steering of mobile base 3 etc. are controlled by programmable controller PLC
Advance.
Include skill practice and simple man-machine training two parts with reference to Basketball Tactical example.Described skill practice passes through pre-
First program, mobile base 3 is overall according to the traveling of specified tactics route with mobile robot；Robot is worked as in described simple man-machine training
Basketball locus, intrinsic wheel are identified by the CCD vision sensors and light-sensitive array of robot outer layer after arrival specified location
Wide and feature, by laser range finder come range measurement, between control machine people, distance is equal realizes robot joint defence.
In terms of safeguard protection, the mounting seat armor 31 on bed frame 33；Preventing gas sheath of the present invention, makes
With the anti-vibration protected airbag of glass ceramics used in express transportation；Described sponge profile overcoat, uses sponge image.During installation
Installed respectively from the left and right sides of robot using the plate first formula design of left and right two illustrated in Figure 10, its lower end is fixed on base shield
In first 31, both protected people not injured when the collision between robot occurs or between people and robot or prevented in robot
Portion is damaged due to shock or accidental falls.
In the application, artificial " bell " omnidirectional wheeled mobile robot of machine, robot be divided into, in, it is outer three layers.It is described
Internal layer mainly include robot trunk, mobile base, swing mechanical arm three parts.Described robot trunk is designed as narrow
Lower wide " bell " cavity structure, it is the mounting framework of other parts：Its top or so is slotted, and middle part is provided with " T-shaped " mechanical arm
Installing plate is used to install mechanical arm；Mid-lower torso makes robot keep balance when being collided equipped with gyroscope；Lower torso
Fixed with mobile base bolt connection；Described " bell " cavity structure is stable, is easy to the installation of exterior protection layer and prevents it
Slide.
Described swing mechanical arm is support using crank and rocker mechanism, and driving machine is connected with crank by motor output shaft
Tool arm, makes it swing up and down at an angle, plays a part of extending floor coverage and simple stop pass pitching.Described machine
Tool arm A ends are connected in mechanical arm frame with D ends, and being easily installed motor provided with motor erecting bed outside its A end makes swing mechanical
Arm modularization.
Described mobile base is made up of drive train, bed frame, base armor, and drive train is hung down using four omni-directional wheels
Straight layout type, four omni-directional wheels of the drive train are independently driven by four servomotors, meet that robot omnibearing turns
To must ask.The factors such as its rotating speed, direction are controlled with programmable controller PLC, and required road is pressed by programming Control machine people
Line moves.Single omni-directional wheel extending shaft is designed as stepped in described train, is coordinated with bed frame and wheel shaft bracing ring
Limit train installation site.Described base support wheel shaft hole site is equipped with bearing；Described wheel shaft bracing ring is arranged on base
Support relevant position and wherein equipped with bearing with base support same size, it act as supporting wheel shaft, limit its axially and
The movement of radial direction, reduce frictional resistance, be easy to be driven.Described base armor profile is cylindric, and outer layer uses makrolon
Material, with base support bolt connection, base is shielded.
Described overcoat includes the preventing gas sheath in middle level and the sponge profile overcoat of outer layer.Described gas shield
Layer is using the anti-vibration protected airbag of glass ceramics used in express transportation, and protection robot is impacted or internal structure during accidental falls
Injury-free, described preventing gas sheath is left and right two plate first formulas design, is easy to robot to install；Described sponge profile protection
Layer is robot profile, uses sponge image.Install for convenience of outer layer and equally designed using two plate first formulas of left and right, inner chamber and gas
Overcoat is bonded, similar to preventing gas sheath to play a protective role and profile arbitrarily design replacing.Described sponge profile is protected
Sheath installs pattern recognition device and related sensor, can play identification basketball and realize synchronous joint defence between robot
Effect.
Described above is only the preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (10)
- A kind of 1. Basketball Tactical training machine people, it is characterised in that the robot include mobile base, robot trunk, Mechanical arm three parts are swung, the swing mechanical arm can be swung up and down, and it is two, is connected respectively with the robot trunk both sides Connect, the lower end of the robot trunk is connected with for the mobile base of robot movement.
- 2. Basketball Tactical training machine people according to claim 1, it is characterised in that the mobile base includes base Frame, drive train and base armor, bed frame upper end is connected with the robot trunk lower end, under the bed frame End connects the drive train, and the drive train includes four omni-directional wheels, and four omni-directional wheels use vertical arrangement mode Set, independently driven by second servomotor respectively so that the robot comprehensive can turn to, the base armor Profile is cylindric, and itself and the bed frame bolt connection shield to base.
- 3. Basketball Tactical training machine people according to claim 2, it is characterised in that the wheel shaft of the omni-directional wheel passes through Axle hole on bed frame, and axle hole goes out to be provided with bearing, the wheel shaft is socketed with extending axis connection, the extending shaft Wheel shaft bracing ring, and extending shaft is provided with bearing with wheel shaft bracing ring junction, the wheel shaft bracing ring passes through screw and base Frame is connected, and the wheel shaft extending shaft is connected with servo motor output shaft.
- 4. Basketball Tactical training machine people according to claim 2, it is characterised in that the outer layer of the base armor makes Use makrolon material.
- 5. Basketball Tactical training machine people according to claim 1, it is characterised in that the robot trunk is generally For up-narrow and down-wide " bell " cavity structure, its middle and upper part left and right ends fluting, centre is provided with " T-shaped " mechanical arm installing plate, described Mechanical arm is swung to be connected with the mechanical arm installing plate.
- 6. Basketball Tactical training machine people according to claim 1, it is characterised in that the swing mechanical arm includes machine Tool arm frame, mechanical arm swing rod CD, the first servomotor and crank AB, bar BC, mechanical arm main body, the A ends of the crank AB With the output axis connection of the servomotor, it is set to be rotated around the A ends, its B end and the B ends of the bar BC are hinged, the bar BC C-terminal is connected with the C-terminal of the mechanical arm swing rod CD, and the D ends of the mechanical arm swing rod CD are connected with the mechanical arm frame, The mechanical arm swing rod CD is connected with the mechanical arm main body, and is synchronized with the movement, and first servomotor is arranged on the machine In tool arm frame, mechanical arm pendulum CD is swung up and down at an angle described in the first servomotor rotary drive, so as to drive Mechanical arm main body is swung up and down.
- 7. the Basketball Tactical training machine people according to any one of claim 1-6, it is characterised in that the robot The overcoat of outside is also wrapped in, the overcoat includes preventing gas sheath, and described preventing gas sheath is transported using express delivery The defeated anti-vibration protected airbag of glass ceramics used.
- 8. Basketball Tactical training machine people according to claim 7, it is characterised in that described preventing gas sheath is a left side Right two plate first formulas design, is easy to robot to install.
- 9. Basketball Tactical training machine people according to claim 7, it is characterised in that the outside of the preventing gas sheath Sponge profile overcoat is provided with, the sponge profile overcoat uses sponge image, for left and right two plate first formulas design, in it Side is bonded with the preventing gas sheath.
- 10. Basketball Tactical training machine people according to claim 9, it is characterised in that the sponge profile overcoat Inside it is provided with image collecting device and the sensor for ranging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710918972.2A CN107456745A (en) | 2017-09-30 | 2017-09-30 | A kind of Basketball Tactical training machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710918972.2A CN107456745A (en) | 2017-09-30 | 2017-09-30 | A kind of Basketball Tactical training machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107456745A true CN107456745A (en) | 2017-12-12 |
Family
ID=60554133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710918972.2A Pending CN107456745A (en) | 2017-09-30 | 2017-09-30 | A kind of Basketball Tactical training machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107456745A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111729286A (en) * | 2020-07-06 | 2020-10-02 | 九江学院 | Interactive intelligent motion system of many people in gymnasium |
| CN113203408A (en) * | 2021-05-21 | 2021-08-03 | 山东新一代信息产业技术研究院有限公司 | Method for predicting position of robot based on floor sensor |
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| CN105126350A (en) * | 2015-07-03 | 2015-12-09 | 北京信息科技大学 | Integrated soccer robot structure |
| CN205730219U (en) * | 2016-04-15 | 2016-11-30 | 江苏经贸职业技术学院 | A kind of remarkable training devices of gasbag-type basketball sports |
| CN106310630A (en) * | 2015-06-19 | 2017-01-11 | 李子赫 | Football and basketball assisted training robot capable of moving in all directions based on image recognition |
| CN207342149U (en) * | 2017-09-30 | 2018-05-11 | 天津商业大学 | A kind of Basketball Tactical training machine people |
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2017
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090098955A1 (en) * | 2007-10-15 | 2009-04-16 | Crook Ii Robert E | Ultimate defender |
| US20120208660A1 (en) * | 2011-02-05 | 2012-08-16 | Steven Wayne Mayers | Interactive basketball trainer |
| CN103611278A (en) * | 2013-12-17 | 2014-03-05 | 齐鲁工业大学 | Basketball sparring machine |
| CN106310630A (en) * | 2015-06-19 | 2017-01-11 | 李子赫 | Football and basketball assisted training robot capable of moving in all directions based on image recognition |
| CN105126350A (en) * | 2015-07-03 | 2015-12-09 | 北京信息科技大学 | Integrated soccer robot structure |
| CN104971501A (en) * | 2015-07-22 | 2015-10-14 | 黑龙江大学 | Multi-driving autonomous boxing model robot system and control method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111729286A (en) * | 2020-07-06 | 2020-10-02 | 九江学院 | Interactive intelligent motion system of many people in gymnasium |
| CN111729286B (en) * | 2020-07-06 | 2021-11-16 | 九江学院 | Interactive intelligent motion system of many people in gymnasium |
| CN113203408A (en) * | 2021-05-21 | 2021-08-03 | 山东新一代信息产业技术研究院有限公司 | Method for predicting position of robot based on floor sensor |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171212 |
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| WD01 | Invention patent application deemed withdrawn after publication |