CN107837513A - A kind of delivery system and its control method - Google Patents
A kind of delivery system and its control method Download PDFInfo
- Publication number
- CN107837513A CN107837513A CN201711088188.XA CN201711088188A CN107837513A CN 107837513 A CN107837513 A CN 107837513A CN 201711088188 A CN201711088188 A CN 201711088188A CN 107837513 A CN107837513 A CN 107837513A
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- China
- Prior art keywords
- ball
- groove
- delivery system
- robot
- suction device
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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
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
A kind of delivery system, including, robot ball-throwing apparatus, ball-suction device, returning unit and control device, wherein, the robot ball-throwing apparatus receives the instruction of the control device, and ball is invested into the ball-suction device；The ball-suction device, it receives the instruction of the control device, and receives ball according to the route of ball；The returning unit, it receives the instruction of the control device, carries out the collection and distribution of ball；The control device, it is used to controlling the pitching of delivery system, receives and the collection of ball and distribution work.Present invention also offers a kind of control method of delivery system, moved by the Dual-robot coordination of ball-throwing apparatus and ball-suction device, and then the complexity of pitching process is added, and pass through the synergy of multiple cylinders, it is therefore prevented that the situation that ball blocks in returning unit.
Description
Technical field
The present invention relates to robot field, particularly a kind of delivery system and its control method.
Background technology
Robot is the automatic installations for performing work.It can both receive mankind commander, can run advance volume again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.
At present, the existing pitching machine National People's Congress is fixed using ball frame more, and the mode of pitching manipulator movement carries out pitching, leads
Cause process is excessively simple；And when existing returning unit is collected to ball, easy the problems such as blocking, card ball occurs.
The content of the invention
In order to solve the shortcomings of the prior art, it is an object of the invention to provide a kind of delivery system and its controlling party
Method, moved by the Dual-robot coordination of ball-throwing apparatus and ball-suction device, and then add the complexity of pitching process, and led to
Cross the synergy of multiple cylinders, it is therefore prevented that the situation that ball blocks in returning unit.
To achieve the above object, delivery system provided by the invention, including, robot ball-throwing apparatus, ball-suction device, return of serve
Device and control device, wherein,
The robot ball-throwing apparatus, receives the instruction of the control device, and ball is invested into the ball-suction device；
The ball-suction device, it receives the instruction of the control device, and receives ball according to the route of ball；
The returning unit, it receives the instruction of the control device, carries out the collection and distribution of ball；
The control device, it is used for the pitching of control system, receives and the collection of ball and distribution work.
Further, the robot ball-throwing apparatus, including：Robot, mechanical arm and mechanical gripper, the mechanical gripper
Refer to mechanical gripper using three, control three fingers to grab ball by cylinder.
Further, the ball-suction device, including：
Detector, for detecting the route of ball；
Processor, for the route of the ball according to detected by detector, judge the drop point of ball；And
Receive mechanism, for receiving ball, the mechanism of receiving is in walking mechanism.
Further, the returning unit, including：Ball-distributer and oscillating cylinder component, framework, goal door shield and guide rod gas
Cylinder component, liter ball groove, liter ball plate and Rodless cylinder component, robot take ball groove, manually take ball groove, ball-distributer sensor, score
Sensor, and turnover panel air cylinder, wherein,
Described liter of ball groove, it is arranged on the robot and takes ball groove and the artificial centre for taking ball groove；
The ball-distributer of ball-distributer and the oscillating cylinder component is connected with the oscillating cylinder, and the oscillating cylinder is positioned at described
Rise the exit of ball groove；
The Rodless cylinder of described liter of ball plate and Rodless cylinder component is connected with the liter ball plate in described liter of ball groove；
The guide rod cylinder of the goal door shield and guide rod cylinder component connects positioned at the porch of described liter of ball groove, the guide rod cylinder
Connect the goal door shield；
The porch and exit of described liter of ball groove are respectively equipped with ball-distributer sensor and enter ball sensor；
The turnover panel air cylinder, it is arranged in the groove on court surface, the ball in groove is stirred.
Further, the mechanism of receiving of the ball-suction device includes mechanical arm and ball basket.
To achieve the above object, the present invention also provides a kind of control method of delivery system, comprises the following steps：
（1）Ball is invested ball-suction device by ball-throwing apparatus or people；
（2）The drop point according to ball of ball-suction device, mobile receive and are received at mechanism；
（3）Returning unit is collected and distributed to ball.
Further, the step（2）Further comprise：The route of the detection ball of ball-suction device simultaneously calculates falling for ball
Point；Mobile mechanism of receiving reaches calculated drop point and received.
Further, the step（3）Further comprise：, comprise the following steps：
（a）The ball of guide rod cylinder control bottom is entered in liter ball groove；
（b）Rodless cylinder is by ball from the lifting of the bottom of liter ball groove to the top of liter ball groove；
（c）Ball is distributed to the both ends for taking ball groove by oscillating cylinder respectively.
Further, the step（a）Further comprise the steps：Detection, which is risen in ball groove, whether there is ball；It is to stop
Only and return；Otherwise ball is sent into and risen in ball groove.
Further, the step（c）Further comprise the steps：Detection, which takes, whether there is ball in ball groove；It is to stop
Only and return；Otherwise ball is sent into and taken in ball groove.
Delivery system provided by the invention and its control method, have the advantages that：
1st, in pitching, ball-throwing apparatus and ball-suction device move system of the invention together, realize Dual-robot coordination motion control
Technology processed, it can more show the complexity of the present invention；
2nd, the present invention is detected using sensor to taking ball groove and rising the state of ball in ball groove, is to manipulate guide rod gas in no ball
Cylinder, Rodless cylinder and oscillating cylinder carry out tip-in, it is therefore prevented that the phenomenon that ball blocks in passage.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
Obtain it is clear that or being understood by implementing the present invention.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, and with the present invention's
Embodiment together, for explaining the present invention, is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the schematic diagram according to the delivery system of the present invention；
Fig. 2 is the isometric front view according to the returning unit of the delivery system of the present invention；
Fig. 3 is the returning unit of delivery system and the stereogram of court surface according to the present invention；
Fig. 4 is the rear isometric view according to the returning unit of the delivery system of the present invention；
Fig. 5 is the rearview according to the returning unit of the delivery system of the present invention.
In figure：1 it is robot ball-throwing apparatus, 2 be ball-suction device, 3 be returning unit, 4 be control device, 301 is bulb separation
Device and oscillating cylinder component, 302 be framework, 303 be goal door shield and guide rod cylinder component, 304 be a liter ball groove, 305 be a liter ball
Plate and Rodless cylinder component, 306 be robot take ball groove, 307 be manually take ball groove, 308 be ball-distributer sensor, 309 be into
Ball sensor, 310 are turnover panel air cylinder.
Embodiment
The preferred embodiments of the present invention are illustrated below in conjunction with accompanying drawing, it will be appreciated that described herein preferred real
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Fig. 1 be according to the present invention delivery system schematic diagram, as shown in figure 1, the present invention delivery system, including, machine
Device people ball-throwing apparatus 1, ball-suction device 2, returning unit 3 and control device 4, wherein,
Robot ball-throwing apparatus 1, the instruction of its receiving control device 4, for by ball invest ball-suction device 2, it include robot,
Mechanical arm and mechanical gripper, the device will consider that robot picks up the repetitive positioning accuracy of ball position, and mechanical gripper refers to using three
Mechanical gripper, three fingers are controlled to grab ball by cylinder.The mechanical gripper enters to the design method of finger, pitching Position And Velocity
Row is precisely controlled, and is fitted close the time of handgrip release.During pitching, guiding mechanism is also set up on handgrip, to
Ensure the accuracy of output direction of ball.
Ball-suction device 2, the instruction of its receiving control device 4, thrown for receiving robot ball-throwing apparatus 1 according to the route of ball
The ball gone out.Ball-suction device 2 includes：Detector, for detecting the route of ball；Processor, for according to detected by detector
The route of ball, judge the drop point of ball；And mechanism of receiving, for receiving ball, mechanism of receiving is arranged in walking mechanism, dress of receiving
The mechanism of receiving put includes mechanical arm and ball basket, is provided with photoelectric detection switch around ball frame, whether be able to detect that has ball
Input.In order to coordinate robot high accuracy work requirements, and ensure the high-precision repetitive positioning accuracy of walking mechanism, the vehicle with walking machine
Structure is driven from the gear ＆ rack structure kind of drive, and is finely adjusted with the position of motor docking ball device.Ball-suction device 2
Detector detection ball route and calculate the drop point of ball, move mechanism of receiving afterwards and reach calculated drop point and receive.
Returning unit 3, for the ball that ball-suction device receives to be collected and distributed.The court surface of the system is in certain
Angle tilt, ball self-return can be beneficial to.
Control device 4, it is used for control machine people ball-throwing apparatus 1, the work of ball-suction device 2, returning unit 3.
Fig. 2 is according to the isometric front view of the returning unit of the delivery system of the present invention, and Fig. 3 is the pitching according to the present invention
The rear isometric view of the returning unit of system, Fig. 4 are according to the returning unit of the delivery system of the present invention and standing for court surface
Body figure, Fig. 5 are according to the rearview of the returning unit of the delivery system of the present invention, as shown in Figure 2-5, delivery system of the invention
Returning unit, including, ball-distributer and oscillating cylinder component 301, framework 302, goal door shield and guide rod cylinder component 303, rise
Ball groove 304, liter ball plate and Rodless cylinder component 305, robot take ball groove 306, manually take ball groove 307, ball-distributer sensor
308th, ball sensor 309, and turnover panel air cylinder 310 are entered, wherein,
Ball groove 304 is risen, it is arranged on the centre that robot takes ball groove 306 and manually takes ball groove 307；
Robot takes ball groove 306 and manually takes ball groove 307 to be tilted down respectively to both ends；
The Rodless cylinder connection of ball plate and Rodless cylinder component 305 is risen positioned at the liter ball plate risen in ball groove 304；
The guide rod cylinder of goal door shield and guide rod cylinder component 303 is scored positioned at the porch for rising ball groove 304, guide rod cylinder connection
Door shield；
The oscillating cylinder of ball-distributer and oscillating cylinder component 301 is positioned at the exit for rising ball groove 304, oscillating cylinder and ball-distributer phase
Connection.
Rise the porch of ball groove 304 and exit is respectively equipped with ball-distributer sensor 308 and enters ball sensor 309, can
Detection rises whether have ball in the porch and exit of ball groove 304, and then controls guide rod cylinder, Rodless cylinder, oscillating cylinder to enter
Row tip-in.
Turnover panel air cylinder 310, it is arranged in the groove on court surface, the start by set date of turnover panel air cylinder 310, to the ball in groove
Stirred, prevent that ball accumulation is stuck.
Ball distributing board on oscillating cylinder, when in use, oscillating cylinder 301 can control bulb separation according to the position of ball distributing board
Ball is distributed to robot and takes ball groove 306 and manually take in ball groove 307 by plate.The position of ball distributing board is in ball liter according to laws of the game
Determined before rising.
The control device 4 of the robot of the present invention, the automated system moved using Dual-robot coordination, Duo Tai robots
Coordinated Control emphasis solves the coordinated movement of various economic factors of pitching robot and Zhua Kuang robots, robot speed and Pose Control
Accuracy, controlled by signal between two-shipper, each action performed, and the recovery after breaking down, realize automatic multiple
Again perform position.
The present apparatus is additionally provided with sound prompt device and display device, and sound prompt device is used to carry out the shooting person of participation
Prompting, increase is interactive, and display device is used to show robot and the bowling events of shooting person.
In addition, present invention also offers the control method of above-mentioned delivery system, comprise the following steps：
（1）The control machine people ball-throwing apparatus 1 of control device 4 captures ball, and ball is launched；
（2）The route of the detector detection ball of ball-suction device 2 simultaneously calculates the drop point of ball, and mechanism of receiving mobile afterwards, which reaches, to be counted
The drop point of calculation is simultaneously received；
（3）Returning unit 3 is collected and distributed to ball, comprises the following steps：
（a）The ball of guide rod cylinder control bottom is entered in liter ball groove；
（b）Rodless cylinder is by ball from the lifting of the bottom of liter ball groove to the top of liter ball groove；
（c）Ball is distributed to the both ends for taking ball groove by oscillating cylinder respectively.
In step（a）In, the porch for rising ball groove is respectively equipped with into ball sensor, whether there is for detecting to rise in ball groove
Ball.
In step（c）In, whether the exit for rising ball groove is respectively equipped with ball-distributer sensor, deposited for detecting to take in ball groove
In ball.
One of ordinary skill in the art will appreciate that：The preferred embodiments of the present invention are the foregoing is only, and are not had to
In the limitation present invention, although the present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, its technical scheme that can be still recorded to foregoing embodiments is modified, or which part technical characteristic is entered
Row equivalent substitution.Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., all should include
Within protection scope of the present invention.
Claims (10)
1. a kind of delivery system, including, robot ball-throwing apparatus, ball-suction device, returning unit and control device, its feature
It is,
The robot ball-throwing apparatus, receives the instruction of the control device, and ball is invested into the ball-suction device；
The ball-suction device, it receives the instruction of the control device, and receives ball according to the route of ball；
The returning unit, it receives the instruction of the control device, carries out the collection and distribution of ball；
The control device, it is used to controlling the pitching of delivery system, receives and the collection of ball and distribution work.
2. delivery system according to claim 1, it is characterised in that the robot ball-throwing apparatus, including：Robot,
Mechanical arm and mechanical gripper, the mechanical gripper refer to mechanical gripper using three, control three fingers to grab ball by cylinder.
3. delivery system according to claim 1, it is characterised in that the ball-suction device, including：
Detector, for detecting the route of ball；
Processor, for the route of the ball according to detected by detector, judge the drop point of ball；And
Receive mechanism, for receiving ball, the mechanism of receiving is in walking mechanism.
4. delivery system according to claim 1, it is characterised in that the returning unit, including：Ball-distributer and swing gas
Cylinder component, framework, goal door shield and guide rod cylinder component, rise ball groove, rise ball plate and Rodless cylinder component, robot take ball groove,
Manually take ball groove, ball-distributer sensor, enter ball sensor, and turnover panel air cylinder, wherein,
Described liter of ball groove, it is arranged on the robot and takes ball groove and the artificial centre for taking ball groove；
The ball-distributer of ball-distributer and the oscillating cylinder component is connected with the oscillating cylinder, and the oscillating cylinder is positioned at described
Rise the exit of ball groove；
The Rodless cylinder of described liter of ball plate and Rodless cylinder component is connected with the liter ball plate in described liter of ball groove；
The guide rod cylinder of the goal door shield and guide rod cylinder component connects positioned at the porch of described liter of ball groove, the guide rod cylinder
Connect the goal door shield；
The porch and exit of described liter of ball groove are respectively equipped with ball-distributer sensor and enter ball sensor；
The turnover panel air cylinder, it is arranged in the groove on court surface, the ball in groove is stirred.
5. delivery system according to claim 3, it is characterised in that the mechanism of receiving of the ball-suction device includes mechanical arm
With ball basket.
6. a kind of control method of delivery system, comprises the following steps：
（1）Ball is invested ball-suction device by ball-throwing apparatus or people；
（2）The drop point according to ball of ball-suction device, mobile receive and are received at mechanism；
（3）Returning unit is collected and distributed to ball.
7. control method according to claim 6, it is characterised in that the step（2）Further comprise：Ball-suction device
Detect the route of ball and calculate the drop point of ball；Mobile mechanism of receiving reaches calculated drop point and received.
8. control method according to claim 6, it is characterised in that the step（3）Further comprise：, including it is following
Step：
（a）The ball of guide rod cylinder control bottom is entered in liter ball groove；
（b）Rodless cylinder is by ball from the lifting of the bottom of liter ball groove to the top of liter ball groove；
（c）Ball is distributed to the both ends for taking ball groove by oscillating cylinder respectively.
9. control method according to claim 8, it is characterised in that the step（a）Further comprise the steps：Inspection
Survey to rise in ball groove and whether there is ball；It is to stop and return；Otherwise ball is sent into and risen in ball groove.
10. operating method according to claim 8, it is characterised in that the step（c）Further comprise the steps：
Detection, which takes, whether there is ball in ball groove；It is to stop and return；Otherwise ball is sent into and taken in ball groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711088188.XA CN107837513B (en) | 2017-11-08 | 2017-11-08 | Ball throwing system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711088188.XA CN107837513B (en) | 2017-11-08 | 2017-11-08 | Ball throwing system and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107837513A true CN107837513A (en) | 2018-03-27 |
| CN107837513B CN107837513B (en) | 2020-06-16 |
Family
ID=61680944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711088188.XA Active CN107837513B (en) | 2017-11-08 | 2017-11-08 | Ball throwing system and control method thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN107837513B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108297110A (en) * | 2018-04-12 | 2018-07-20 | 苏州菱麦自动化设备科技有限公司 | A kind of shooting robot device |
| CN111790125A (en) * | 2020-07-14 | 2020-10-20 | 湖南人文科技学院 | Ball game simulation light reaction training device |
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| CN111790125B (en) * | 2020-07-14 | 2021-09-21 | 湖南人文科技学院 | Ball game simulation light reaction training device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107837513B (en) | 2020-06-16 |
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