CN108127672A - A kind of Basketball Intellectual Robot - Google Patents
A kind of Basketball Intellectual Robot Download PDFInfo
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- CN108127672A CN108127672A CN201810194763.2A CN201810194763A CN108127672A CN 108127672 A CN108127672 A CN 108127672A CN 201810194763 A CN201810194763 A CN 201810194763A CN 108127672 A CN108127672 A CN 108127672A
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- 238000004891 communication Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 6
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- 238000005259 measurement Methods 0.000 description 3
- 206010044565 Tremor Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 1
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- 230000005540 biological transmission Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
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- 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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Abstract
The present invention provides a kind of Basketball Intellectual Robot, including pedestal, be arranged on the walking mechanism below pedestal, the pitching mechanism for the side of being set on the base, pick up ball machine structure, the first detent mechanism and control mechanism, three the second detent mechanisms sought ball machine structure and be arranged on outside basketball court being arranged in front of pedestal, the control mechanism and the walking mechanism, pitching mechanism, pick up ball machine structure, the first detent mechanism, seek ball machine structure, the second detent mechanism signal is connect.Basket-Shooting Robot of the present invention can realize the automatic Picking to basketball, and can shoot in basketball court any position, the more existing Basket-Shooting Robot higher of intelligence degree, and function is more powerful.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of Basketball Intellectual Robot.
Background technology
The today in 21st century, robot is ubiquitous, and type and the function of robot are even more that there is no lack of strange things, such as
Sports class robot is exactly market-oriented product, but its type is few, and prevailing price is expensive, and cost is high.And basket
The sports of ball robot are then an athletics events just to be risen.
But current Basket-Shooting Robot belongs to fixed ornamental property mostly, i.e. Basket-Shooting Robot is motionless, is being thrown
The step of after basket because ground relation of plane basketball can return to Basket-Shooting Robot underfooting, and then Basket-Shooting Robot according to setting before
Continue to pick up ball and pitching.This kind of Basket-Shooting Robot does not have the ability of mobile shooting completely.
At present there are also can be mobile Basket-Shooting Robot, but it is distinguished not with fixed Basket-Shooting Robot
Greatly, such robot need run could start to shoot to the shooting region set, do not have adjust automatically angle and
The ability that any position is shot.Invention such as 204604310 U of Publication No. is related to a kind of amusement robot, more particularly to
A kind of pitching robot.The present invention provides following technical solutions：A kind of pitching robot, includes car body and on car body
Ball-throwing apparatus, the car body includes pedestal, the supporting rack being connected with pedestal and the mounting bracket being connected with supporting rack, pedestal
Wheel and universal wheel are equipped with, ball-throwing apparatus includes the actuator being set up on mounting bracket, set on mounting bracket both lateral sides point
It is not being connected by driving member with actuator and can be towards the pitching frame toppled on the outside of mounting bracket.The robot of the patent can only be
Shooting region is shot, and function is single.
Invention content
In view of this, the present invention provides a kind of Basketball Intellectual Robot, can realize the automatic Picking to basketball, and can
It shoots in basketball court any position.
In order to solve the above technical problems, the present invention provides a kind of Basketball Intellectual Robot, including pedestal, it is arranged under pedestal
The walking mechanism of side, picks up ball machine structure, the first detent mechanism and control mechanism, is arranged at the pitching mechanism for the side of being set on the base
Three the second detent mechanisms sought ball machine structure and be arranged on outside basketball court in front of pedestal, the control mechanism and the walking
Mechanism, pitching mechanism pick up ball machine structure, the first detent mechanism, seek ball machine structure, the connection of the second detent mechanism signal.
Further, the pitching mechanism includes the first rotating bottom board of base center line position setting, first rotation
Turn bottom plate and the first rotation drive module is sequentially connected, U-shaped frame is set on first rotating bottom board, the U-shaped frame upper end is set
Rotary shaft is put, installing plate is set in the rotary shaft, the rotary shaft is sequentially connected with the second rotation drive module, the installation
Pitching cylinder is set on plate, and the shape of the arc panel of basketball, the arc panel and basketball is fixed in the pitching cylinder head portions setting
Mutually agree with, the arc panel setting guiding mechanism, the pitching cylinder and the control mechanism signal are corresponded on the installing plate
Connection.
Further, the guiding mechanism includes the guide plate of arc panel edge setting, is set on the guide plate
Pilot hole corresponds to the pilot hole setting guide rod, the flexible side of the guide rod and the pitching cylinder on the installing plate
To the straight line parallel at place.
Further, the first rotation drive module includes the first ring tooth of the first rotating bottom board edge setting
It takes turns, the first L-type support of corresponding first rotating bottom board setting on the pedestal, down-set first in first L-type support
Electric rotating machine, the first electric rotating machine lower end setting and matched first driving wheel of first rim gear wheel, described first
Electric rotating machine is connect with the control mechanism signal.
Further, the second rotation drive module includes the second electric rotating machine for setting on the U-shaped frame, and described the
Second driving wheel on two electric rotating machines is set, is set and the matched second ring tooth of second driving wheel in the rotary shaft
Wheel, second electric rotating machine are connect with the control mechanism signal.
Further, first detent mechanism include centrally disposed the first ultrasonic transmitter of the pan frontward end and
The second centrally disposed ultrasonic transmitter of the base rear end, first ultrasonic transmitter, the second ultrasonic transmitter
Connect with the control mechanism signal, second detent mechanism include basketball court outside set ultrasonic receiver and with institute
The sequentially connected microcontroller of ultrasonic receiver and communication module are stated, the microcontroller passes through communication module and the control
Mechanism signal connection.
Further, it is described seek ball machine structure include the pan frontward end setting CCD camera, the CCD camera with
The control mechanism signal connection, the ball machine structure of picking up include the second rotating bottom board set on the pedestal, second rotation
Turn bottom plate to be sequentially connected with third rotation drive module, the first telescopic rod is set on second rotating bottom board, described first stretches
Contracting bar upper end sets cross bar, down-set second telescopic rod in end of the cross bar, the lower end setting basket of second telescopic rod
Ball fixed mechanism, first telescopic rod, the second telescopic rod are connect with the control mechanism signal.
Further, the third rotation drive module includes the third ring tooth of the second rotating bottom board edge setting
It takes turns, the second L-type support of corresponding second rotating bottom board setting on the pedestal, down-set third in second L-type support
Electric rotating machine, the third electric rotating machine lower end setting and the matched third driving wheel of the third rim gear wheel, the third
Electric rotating machine is connect with the control mechanism signal.
Further, the basketball fixed mechanism includes the sucker of the second telescopic rod lower end setting, the sucker
Upper end sets through-hole, and the through-hole is connected by pump-line with the negative pressure air pump being arranged on above the sucker, the sucker
Lower edge sets rubber seal ring.
Further, the control mechanism includes programmable logic controller (PLC), and the walking mechanism is included under the pedestal
Two deflecting rollers of Fang Qianduan both sides setting and two traveling wheels of rear end both sides setting.
A kind of operation method of Basketball Intellectual Robot, includes the following steps；
S1, the CCD camera for seeking ball machine structure find basketball position, control mechanism receive control walking mechanism after information run to
Beside basketball, ball machine structure pickup basketball is picked up in then control mechanism control；
S2, third rotation drive module drive the second rotating bottom board to drive the rotation of the first telescopic rod so that second on cross bar stretches
Contracting bar is moved to the top of basketball, which is completed by CCD camera and control mechanism cooperation, and then the second telescopic rod is downward
Elongation, negative pressure air pump pumping, basketball can be moved to the underface of sucker under airflow function, and be fixed by sucker；
S3, in non-pitching, installing plate it is face-up, U-shaped frame and pitching cylinder are all vertically and installing plate；
S4, the elongation of the first telescopic rod, the second telescopic rod shorten, and third rotating bottom board, which rotates, is causing the second telescopic rod arc panel just
Top, and sucker height is more than the height of guide rod, then the second telescopic rod, which extends, causes basketball to be located in arc panel, negative pressure gas
Pump is closed so that basketball is fallen into arc panel；
S5, the first detent mechanism two supersonic generators send out ultrasonic wave under the action of control mechanism, outside basketball court
Three ultrasonic receivers receive ultrasonic wave, and the time of reception is sent to control mechanism, control mechanism by microcontroller
The position of Basket-Shooting Robot is calculated, and can calculate by the position where six groups of times and three ultrasonic receivers
Pan frontward end center and the position of back-end central, can also calculate pan frontward end center in this way and back-end central is formed
Center line and basketry angle；
S6, control mechanism adjust the first rotating bottom board according to angle problem so that and the direction of pitching cylinder is opposite with basketry, and
Adjustment the second rotation drive module so that pitching cylinder no longer vertically and ground, that is, adjusts the direction of the launch of basketball；
S7, after the completion of the level angle and vertical angles of shooting are all adjusted, control mechanism emits position by the basketball of measurement
The distance of basketry is put to calculate initial velocity during basketball transmitting, and control pitching cylinder that arc panel is pushed to shoot；
After the completion of S8, shooting, continue step S1 contents.
The present invention provides a kind of Basketball Intellectual Robots, including pedestal, are arranged on the walking mechanism below pedestal, set
Pitching mechanism above pedestal picks up ball machine structure, the first detent mechanism and control mechanism, is arranged in front of pedestal and seeks ball machine structure
And three the second detent mechanisms outside basketball court are arranged on, the control mechanism and the walking mechanism, pick up ball at pitching mechanism
Mechanism, the first detent mechanism seek ball machine structure, the connection of the second detent mechanism signal.
The pitching mechanism includes the first rotating bottom board of base center line position setting, first rotating bottom board and the
One rotation drive module is sequentially connected, and U-shaped frame, the U-shaped frame upper end setting rotary shaft, institute are set on first rotating bottom board
It states and installing plate is set in rotary shaft, the rotary shaft is sequentially connected with the second rotation drive module, sets and throws on the installing plate
Ball cylinder, the arc panel of the fixed basketball of pitching cylinder head portions setting, the shape of the arc panel and basketball is mutually agreed with, described
The arc panel setting guiding mechanism is corresponded on installing plate, the pitching cylinder is connect with the control mechanism signal.First rotation
Turn bottom plate and the first rotation drive module realizes the adjustment of the level angle of inceptive direction and basketry when emitting basketball, rotary shaft
The vertical angles of inceptive direction and basketry adjust when realizing basketball transmitting with the second rotary drive mechanism so that pitching cylinder is by basket
Basketry can be carried out after ball transmitting.Arc panel is used for carrying basketball, and arc panel mutually agrees with basketball shape, avoids basketball by arc
Being shaken after shape plate thrust leads to happening for direction shakiness.The height of arc panel center to plane of the opening is less than the half of basketball
Diameter, more than the half of basketball radius, stability is more preferable and is impacted when will not emit basketball.
The guiding mechanism includes the guide plate of arc panel edge setting, sets pilot hole on the guide plate, institute
It states and the pilot hole setting guide rod is corresponded on installing plate, the guide rod is straight where with the telescopic direction of the pitching cylinder
Line is parallel.Guiding mechanism is oriented to when being moved to arc panel, the problem of avoiding subtle shaking, cause field goalds relatively low.
The first rotation drive module includes the first rim gear wheel of the first rotating bottom board edge setting, the pedestal
First L-type support of upper the first rotating bottom board of correspondence setting, down-set first electric rotating machine in first L-type support, institute
State the setting of the first electric rotating machine lower end and matched first driving wheel of first rim gear wheel, first electric rotating machine and institute
State the connection of control mechanism signal.First electric rotating machine rotates so that the first driving wheel rotates, so as to which the first rim gear wheel be driven to turn
It is dynamic so that the first rotating bottom board rotates, and the first rotating bottom board and the second following rotating bottom board are set by a Rotary cloumn
On pedestal, scheme is very common, few to describe.
The second rotation drive module includes the second electric rotating machine set on the U-shaped frame, second electric rotating
Second driving wheel is set on machine, setting and matched second rim gear wheel of second driving wheel in the rotary shaft, described the
Two electric rotating machines are connect with the control mechanism signal.Second electric rotating machine drives the second driving wheel, so as to drive the second ring tooth
Wheel, it is final to drive rotary shaft rotation so that installing plate rotates therewith, and realizes the adjustment of basketball launch angle.
First detent mechanism includes the first centrally disposed ultrasonic transmitter of the pan frontward end and the pedestal
Second ultrasonic transmitter of back-end central setting, first ultrasonic transmitter, the second ultrasonic transmitter and the control
Mechanism signal processed connection, second detent mechanism include the ultrasonic receiver set outside basketball court and with the ultrasonic wave
The sequentially connected microcontroller of receiver and communication module, the microcontroller pass through communication module and the control mechanism signal
Connection.First detent mechanism and the second detent mechanism cooperation realize robot positioning and with the angle of basketry, distance.Its
Principle is realized based on ultrasonic ranging principle, and the first ultrasonic transmitter is located at the front end center of pedestal, the second ultrasonic wave
Generator is located at the rear end center of pedestal, and the position of bottom plate front end center and rear end center is measured by ultrasonic ranging
It puts, and what position during basketball injection was to determine on pedestal, when basketball projects is also that can determine in the position of basketball court.
And after the horizontal sextant angle of the center line that is formed of pan frontward end center and rear end center and basketry can also be by measurement
Position obtains, position, height when such basketball projects all are to determine that control mechanism is according to these information with the distance of basketry
To adjust the direction of pitching cylinder so that direction when basketball emits is accurate, and adjusts pitching cylinder ejector basket according to distance
Initial velocity during ball.
The CCD camera sought ball machine structure and include pan frontward end setting, the CCD camera and the control machine
Structure signal connects, and the ball machine structure of picking up includes the second rotating bottom board for setting on the pedestal, second rotating bottom board and the
Three rotation drive modules are sequentially connected, and set the first telescopic rod on second rotating bottom board, the first telescopic rod upper end is set
Cross bar, down-set second telescopic rod in end of the cross bar are put, the lower end of second telescopic rod sets basketball fixed mechanism,
First telescopic rod, the second telescopic rod are connect with the control mechanism signal.CCD camera can be to carrying out in front of robot
Shooting, after control mechanism identifies basketball, control walking mechanism causes its people of basket-playing machine is moved to beside basketball to carry out picking up ball.Pick up ball
Specific steps in method it is stated that by the second rotating bottom board and third of rotation rotate drive module realization pick up ball with
And the position being put into basketball in arc panel adjusts.The length of cross bar will according to the horizontal distance of the first telescopic rod to arc panel and
It is fixed so that basketball can be located at the surface of arc panel after picking up ball machine structure and turning over.
The third rotation drive module includes the third rim gear wheel of the second rotating bottom board edge setting, the pedestal
Second L-type support of upper the second rotating bottom board of correspondence setting, down-set third electric rotating machine in second L-type support, institute
State the setting of third electric rotating machine lower end and the matched third driving wheel of the third rim gear wheel, the third electric rotating machine and institute
State the connection of control mechanism signal.
The basketball fixed mechanism includes the sucker of the second telescopic rod lower end setting, and the upper end setting of the sucker is logical
Hole, the through-hole are connected by pump-line with the negative pressure air pump being arranged on above the sucker, and the sucker lower edge is set
Put rubber seal ring.For basketball fixation by the way of negative pressure, it is simple in structure, and good fixing effect.Rubber seal ring can
To ensure stability during fixed basketball so that the gap of basketball and sucker becomes smaller or disappears, and effect is more preferable.
The control mechanism includes programmable logic controller (PLC), and the walking mechanism includes the pedestal lower front end both sides
Two deflecting rollers of setting and two traveling wheels of rear end both sides setting, control mechanism turn as control axis, walking mechanism
It is responsible for special project to wheel, and traveling wheel is sequentially connected with movable motor, is responsible for providing power, this is all conventional technique, not excessively
Narration.
Basket-Shooting Robot of the present invention can realize the automatic Picking to basketball, and can be thrown in basketball court any position
Basket, the more existing Basket-Shooting Robot higher of intelligence degree, function are more powerful.
Description of the drawings
Fig. 1 is the structure diagram of Basketball Intellectual Robot of the present invention；
Fig. 2 is the structure diagram of Basket-Shooting Robot of the present invention positioning；
Fig. 3 is the structure diagram of basketball fixed mechanism of the present invention；
Fig. 4 is the structure diagram that the present invention second rotates drive module；
Fig. 5 is the structure diagram of pitching mechanism when Basket-Shooting Robot of the present invention is shot；
Fig. 6 is the structure diagram that ball machine structure is picked up when Basket-Shooting Robot of the present invention picks up ball.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
Attached drawing 1-6, the technical solution of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this
The part of the embodiment of invention, instead of all the embodiments.Based on described the embodiment of the present invention, the common skill in this field
Art personnel's all other embodiments obtained, shall fall within the protection scope of the present invention.
Embodiment one, the present invention provides a kind of Basketball Intellectual Robots, including pedestal 31, are arranged on 31 lower section of pedestal
Walking mechanism, picks up ball machine structure, the first detent mechanism and control mechanism 8, is arranged on bottom at the pitching mechanism for being arranged on 31 top of pedestal
Three second detent mechanisms sought ball machine structure and be arranged on outside basketball court in 31 front of seat, the control mechanism 8 and the row
Mechanism, pitching mechanism are walked, ball machine structure, the first detent mechanism is picked up, seeks ball machine structure, the connection of the second detent mechanism signal.
The pitching mechanism includes the first rotating bottom board 27 of 31 position of center line of pedestal setting, first rotating bottom board
27 and first rotate drive module drive connection, and U-shaped frame 24, U-shaped 24 upper end of frame are set on first rotating bottom board 27
Rotary shaft 20 is set, installing plate 19 is set in the rotary shaft 20, the rotary shaft 20 and second rotates drive module transmission and connects
It connects, pitching cylinder 18 is set on the installing plate 19, and 18 end set of pitching cylinder fixes the arc panel 14 of basketball, described
Arc panel 14 and the shape of basketball are mutually agreed with, and the arc panel 14 is corresponded on the installing plate 19 and sets guiding mechanism, the throwing
Ball cylinder 18 is connect with 8 signal of control mechanism.First rotating bottom board and the first rotation drive module are realized and basketball are emitted
When inceptive direction and basketry level angle adjustment, initial side when rotary shaft and the second rotary drive mechanism realize basketball transmitting
It is adjusted to the vertical angles of basketry so that pitching cylinder can carry out basketry after basketball is emitted.Arc panel is used for bearing basket
Ball, arc panel mutually agree with basketball shape, and basketball is avoided direction shakiness to be caused to be happened by shaking after arc panel thrust.
The height of arc panel center to plane of the opening is less than the radius of basketball, more than the half of basketball radius, stability it is more preferable and
It is impacted when will not emit basketball.
The guiding mechanism includes the guide plate 15 of 14 edge of arc panel setting, sets and is oriented on the guide plate 15
Hole 16 corresponds to the pilot hole 16 on the installing plate 19 and sets guide rod 17, the guide rod 17 and the pitching cylinder 18
Telescopic direction where straight line parallel.Guiding mechanism is oriented to when being moved to arc panel, avoids subtle shaking, causes to shoot
The problem of hit rate is relatively low.
The first rotation drive module includes the first rim gear wheel 28 of 27 edge of the first rotating bottom board setting, described
First L-type support 25 of corresponding first rotating bottom board 27 setting on pedestal 31, down-set first in first L-type support 25
Electric rotating machine 26,26 lower end of the first electric rotating machine setting and 28 matched first driving wheel 29 of the first rim gear wheel,
First electric rotating machine 26 is connect with 8 signal of control mechanism.First electric rotating machine rotates so that the first driving rotation
It is dynamic, so as to which the first rim gear wheel be driven to rotate so that the first rotating bottom board rotates, the first rotating bottom board and the following second rotation bottom
Plate is set on the base by a Rotary cloumn, and scheme is very common, few to describe.
The second rotation drive module includes the second electric rotating machine 23 set on the U-shaped frame 24, second rotation
Second driving wheel 22 on rotating motor 23 is set, is set and 22 matched second ring of the second driving wheel in the rotary shaft 20
Gear 21, second electric rotating machine 23 are connect with 8 signal of control mechanism.Second electric rotating machine drives the second driving wheel,
It is final to drive rotary shaft rotation so as to drive the second rim gear wheel so that installing plate rotates therewith, and realizes the tune of basketball launch angle
It is whole.
Embodiment two
The difference between this embodiment and the first embodiment lies in：First detent mechanism includes 31 front end center of pedestal setting
First ultrasonic transmitter 5 and the second ultrasonic transmitter 30 of 31 back-end central of pedestal setting, first ultrasonic wave
Transmitter 5, the second ultrasonic transmitter 30 are connect with 8 signal of control mechanism, and second detent mechanism includes basketball court
The ultrasonic receiver 33 of outer setting and with the 33 sequentially connected microcontroller 35 of ultrasonic receiver and communication module
34, the microcontroller 35 is connect by communication module 34 with 8 signal of control mechanism.
Its principle is realized based on ultrasonic ranging principle, and the first ultrasonic transmitter is located at the front end center of pedestal,
Second supersonic generator is located at the rear end center of pedestal, and bottom plate front end center and rear end are measured by ultrasonic ranging
The position of center, and position when basketball projects is to determine on pedestal, when basketball projects in the position of basketball court
It is that can determine.And the horizontal sextant angle of the center line that is formed with rear end center of pan frontward end center and basketry can also lead to
The position crossed after measuring obtains, position, height when such basketball projects all are to determine, control mechanism root with the distance of basketry
The direction of pitching cylinder is adjusted according to these information so that direction when basketball emits is accurate, and adjusts pitching according to distance
Initial velocity during cylinder ejector basketball.
Embodiment three
The difference between this embodiment and the first embodiment lies in：
The CCD camera 4 sought ball machine structure and include 31 front end of pedestal setting, the CCD camera 4 and the control machine
8 signal of structure connects, and the ball machine structure of picking up includes the second rotating bottom board 6 set on the pedestal 31, second rotating bottom board 6
It is sequentially connected with third rotation drive module, first telescopic rod 7, first telescopic rod 7 is set on second rotating bottom board 6
Upper end sets cross bar 3, down-set second telescopic rod 2 in end of the cross bar 3, the lower end setting basket of second telescopic rod 2
Ball fixed mechanism 1, first telescopic rod 7, the second telescopic rod 2 are connect with 8 signal of control mechanism.CCD camera can be with
To being shot in front of robot, after control mechanism identification basketball, control walking mechanism causes its people of basket-playing machine to be moved to basketball
Side carries out picking up ball.The specific steps of ball are picked up in method it is stated that the second rotating bottom board and third by rotation rotate
The position that drive module realization picks up ball and basketball is put into arc panel adjusts.The length of cross bar will be arrived according to the first telescopic rod
Depending on the horizontal distance of arc panel so that basketball can be located at the surface of arc panel after picking up ball machine structure and turning over.
The third rotation drive module includes the third rim gear wheel 41 of 6 edge of the second rotating bottom board setting, described
Second L-type support 11 of corresponding second rotating bottom board 6 setting on pedestal 31, down-set third in second L-type support 11
Electric rotating machine 10,10 lower end of the third electric rotating machine setting and the 41 matched third driving wheel 9 of third rim gear wheel, institute
Third electric rotating machine 10 is stated to connect with 8 signal of control mechanism.
The basketball fixed mechanism 1 includes the sucker 36 of 2 lower end of the second telescopic rod setting, the upper end of the sucker 36
Through-hole 38 is set, and the through-hole 38 is connected by pump-line 37 with being arranged on the negative pressure air pump 39 of 36 top of sucker, institute
State 36 lower edge of sucker setting rubber seal ring 40.For basketball fixation by the way of negative pressure, it is simple in structure and fixed
Effect is good.Rubber seal ring can ensure stability during fixed basketball so that the gap of basketball and sucker becomes smaller or disappears, effect
Fruit is more preferable.
The control mechanism 8 includes programmable logic controller (PLC), and the walking mechanism includes 31 lower front end of pedestal
Two deflecting rollers 12 of both sides setting and two traveling wheels 32 of rear end both sides setting, control mechanism is as control axis, walking
The deflecting roller of mechanism is responsible for special project, and traveling wheel is sequentially connected with movable motor, is responsible for providing power, this is all conventional skill
Art does not describe excessively.
Example IV
The present invention provides a kind of operation methods of Basketball Intellectual Robot, include the following steps；
S1, the CCD camera for seeking ball machine structure find basketball position, control mechanism receive control walking mechanism after information run to
Beside basketball, ball machine structure pickup basketball is picked up in then control mechanism control；
S2, third rotation drive module drive the second rotating bottom board to drive the rotation of the first telescopic rod so that second on cross bar stretches
Contracting bar is moved to the top of basketball, which is completed by CCD camera and control mechanism cooperation, and then the second telescopic rod is downward
Elongation, negative pressure air pump pumping, basketball can be moved to the underface of sucker under airflow function, and be fixed by sucker；
S3, in non-pitching, installing plate it is face-up, U-shaped frame and pitching cylinder are all vertically and installing plate；
S4, the elongation of the first telescopic rod, the second telescopic rod shorten, and third rotating bottom board, which rotates, is causing the second telescopic rod arc panel just
Top, and sucker height is more than the height of guide rod, then the second telescopic rod, which extends, causes basketball to be located in arc panel, negative pressure gas
Pump is closed so that basketball is fallen into arc panel；
S5, the first detent mechanism two supersonic generators send out ultrasonic wave under the action of control mechanism, outside basketball court
Three ultrasonic receivers receive ultrasonic wave, and the time of reception is sent to control mechanism, control mechanism by microcontroller
The position of Basket-Shooting Robot is calculated, and can calculate by the position where six groups of times and three ultrasonic receivers
Pan frontward end center and the position of back-end central, can also calculate pan frontward end center in this way and back-end central is formed
Center line and basketry angle；
S6, control mechanism adjust the first rotating bottom board according to angle problem so that and the direction of pitching cylinder is opposite with basketry, and
Adjustment the second rotation drive module so that pitching cylinder no longer vertically and ground, that is, adjusts the direction of the launch of basketball；
S7, after the completion of the level angle and vertical angles of shooting are all adjusted, control mechanism emits position by the basketball of measurement
The distance of basketry is put to calculate initial velocity during basketball transmitting, and control pitching cylinder that arc panel is pushed to shoot；
After the completion of S8, shooting, continue step S1 contents.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of Basketball Intellectual Robot, it is characterised in that：Including pedestal, it is arranged on the walking mechanism below pedestal, is arranged on
Pitching mechanism above pedestal, pick up ball machine structure, the first detent mechanism and control mechanism, be arranged in front of pedestal seek ball machine structure with
And three the second detent mechanisms outside basketball court are arranged on, the control mechanism and the walking mechanism, pick up ball machine at pitching mechanism
Structure, the first detent mechanism seek ball machine structure, the connection of the second detent mechanism signal.
2. Basketball Intellectual Robot as described in claim 1, it is characterised in that：The pitching mechanism includes base centerline position
The first rotating bottom board installed, first rotating bottom board and the first rotation drive module are sequentially connected, first rotation
U-shaped frame is set on bottom plate, and the U-shaped frame upper end setting rotary shaft sets installing plate in the rotary shaft, the rotary shaft and the
Two rotation drive modules are sequentially connected, and pitching cylinder, the fixed basketball of pitching cylinder head portions setting are set on the installing plate
Arc panel, the shape of the arc panel and basketball mutually agrees with, and the arc panel setting guiding mechanism is corresponded on the installing plate,
The pitching cylinder is connect with the control mechanism signal.
3. Basketball Intellectual Robot as claimed in claim 1 or 2, it is characterised in that：The guiding mechanism includes the arc
The guide plate of edges of boards edge setting, sets pilot hole on the guide plate, and the pilot hole setting guiding correspond on the installing plate
Bar, straight line parallel of the guide rod where with the telescopic direction of the pitching cylinder.
4. such as claim 1-3 any one of them Basketball Intellectual Robots, it is characterised in that：The first rotation drive module
Include the first rim gear wheel of the first rotating bottom board edge setting, the first of the setting of the first rotating bottom board is corresponded on the pedestal
L-type support, down-set first electric rotating machine in first L-type support, the first electric rotating machine lower end setting with it is described
Matched first driving wheel of first rim gear wheel, first electric rotating machine are connect with the control mechanism signal.
5. Basketball Intellectual Robot as claimed in claim 2, it is characterised in that：The second rotation drive module includes described
The second electric rotating machine set on U-shaped frame, sets the second driving wheel on second electric rotating machine, in the rotary shaft setting with
Matched second rim gear wheel of second driving wheel, second electric rotating machine are connect with the control mechanism signal.
6. Basketball Intellectual Robot as described in claim 1, it is characterised in that：First detent mechanism includes the pedestal
First ultrasonic transmitter of front end center setting and centrally disposed the second ultrasonic transmitter of the base rear end, described the
One ultrasonic transmitter, the second ultrasonic transmitter are connect with the control mechanism signal, and second detent mechanism includes basket
The ultrasonic receiver and microcontroller sequentially connected with the ultrasonic receiver and communication module set outside court, institute
Microcontroller is stated to connect with the control mechanism signal by communication module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810194763.2A CN108127672B (en) | 2018-03-09 | 2018-03-09 | Intelligent shooting robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810194763.2A CN108127672B (en) | 2018-03-09 | 2018-03-09 | Intelligent shooting robot |
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| CN108127672A true CN108127672A (en) | 2018-06-08 |
| CN108127672B CN108127672B (en) | 2024-05-07 |
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| CN201810194763.2A Active CN108127672B (en) | 2018-03-09 | 2018-03-09 | Intelligent shooting robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216695A (en) * | 2019-07-01 | 2019-09-10 | 河海大学常州校区 | Basket-Shooting Robot |
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| CN108127672B (en) | 2024-05-07 |
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