CN108297110B

CN108297110B - Shooting manipulator device

Info

Publication number: CN108297110B
Application number: CN201810326940.8A
Authority: CN
Inventors: 杜剑
Original assignee: Suzhou Lingmai Automation Equipment Technology Co ltd
Current assignee: Suzhou Lingmai Automation Equipment Technology Co ltd
Priority date: 2018-04-12
Filing date: 2018-04-12
Publication date: 2024-05-31
Anticipated expiration: 2038-04-12
Also published as: CN108297110A

Abstract

The application provides a shooting manipulator device, which comprises a manipulator and a basket assembly, wherein the manipulator comprises a gripper for gripping basketball, a first connecting arm, a second connecting arm, a base and a sliding seat, the sliding seat is slidably arranged on a sliding seat, the base is rotatably arranged on the sliding seat along an axis extending in the vertical direction, one end part of the second connecting arm is rotatably connected with the upper end part of the base through a third rotating shaft, the other end part of the second connecting arm is rotatably connected with one end part of the first connecting arm through a second rotating shaft, the gripper is rotatably connected to the other end part of the first connecting arm through a first rotating shaft, and the first rotating shaft, the second rotating shaft and the third rotating shaft are horizontally arranged in an extending mode and are parallel to each other.

Description

Shooting manipulator device

Technical Field

The application relates to a shooting manipulator device.

Background

At present, the existing basketball robot shooting mechanical arm is formed by connecting an arm, a motor, a gripping mechanism, a paw and an end effector in series. However, the shooting mechanical arm has the advantages of single shooting mode, stiff posture, difficult control of accuracy and strength, and great obstruction of the whole technique of the shooting robot and necessary aesthetic appreciation.

Content of the application

The application aims to provide a shooting manipulator device.

In order to solve the technical problems, the application provides a shooting manipulator device, which comprises a manipulator and a basket assembly, wherein the manipulator comprises a gripper for gripping basketball, a first connecting arm, a second connecting arm, a base and a sliding seat, the sliding seat is slidably arranged on a sliding seat, the base is rotatably arranged on the sliding seat along an axis extending in the vertical direction, one end part of the second connecting arm is rotatably connected with the upper end part of the base through a third rotating shaft, the other end part of the second connecting arm is rotatably connected with one end part of the first connecting arm through a second rotating shaft, the gripper is rotatably connected to the other end part of the first connecting arm through a first rotating shaft, and the first rotating shaft, the second rotating shaft and the third rotating shaft are horizontally arranged in an extending mode and are parallel to each other.

Preferably, the gripper comprises a plurality of jaws which can be opened and closed mutually, the jaws have an opened state and a closed state, the jaws are separated mutually when the free ends of the jaws are in the opened state, and the free ends of the jaws are close to each other when the jaws are in the closed state.

Preferably, the gripper further comprises a spherical cover cap with a downward opening for covering the basketball, the cover cap is provided with a plurality of gaps extending from the top to the bottom, the gaps are arranged in one-to-one correspondence with the clamping jaws, and when the clamping jaws are opened, the corresponding clamping jaws can pass through the gaps.

Preferably, the bottom of sliding seat be provided with a plurality of spouts that extend along the Y axle direction and set up, the slide on be provided with a plurality of slide rails that extend along the Y axle direction and set up, the spout with slide rail one-to-one set up, just the spout card establish on the slide rail and along the slidable setting of slide rail.

Preferably, the basket assembly includes a basket, a mounting bar for mounting the basket, the mounting bar being mounted on a mounting platform.

Preferably, the mounting platform is disposed at one side of the sliding seat, and the mounting platform is disposed gradually and downwardly from one end far away from the sliding seat to one end close to the sliding seat.

Preferably, a basketball grabbing point and two guiding ribs for guiding the basketball to the basketball grabbing point are further arranged on one side, close to the sliding seat, of the mounting platform, and the distance between the two guiding ribs is gradually reduced from one end portion away from the basketball grabbing point to one end portion, close to the basketball grabbing point.

Preferably, the sliding seat is also provided with a positioning sensor for positioning basketball grabbing points.

Preferably, the shooting manipulator device further comprises a driving device for driving the movement of the grip, the first connecting arm, the second connecting arm and the base.

Preferably, the shooting manipulator device further comprises a controller, wherein the controller is used for calculating the distance between the manipulator and the basket and controlling the driving device to drive the manipulator to move according to the measured distance.

The basket shooting manipulator disclosed by the application can accurately shoot a basket after sliding to any position along the sliding rail. The ball is grasped by a manipulator and put into a basket. The grabbing position of the ball is fixed, and shooting can be realized through a manipulator movement program.

Drawings

FIG. 1 is a schematic view of a configuration of a shooting robot apparatus;

figure 2 is a schematic top view of the structure of figure 1,

Wherein: 100. a manipulator; 1. a grip; 11. a slit; 12. a clamping jaw; 2. a first connecting arm; 3. a second connecting arm; 4. a base; 5. a sliding seat; 61. a first rotation shaft; 62. a second rotation shaft; 63. a third rotation shaft; 51. a chute; 71. a mounting rod; 72. a basket; 8. a slide; 81. a slide rail; 82. positioning a sensor; 91. a guide rib; 92. basketball grabbing points.

Detailed Description

The present application will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the application and practice it.

As shown in the drawings, the application provides a shooting manipulator device, the device comprises a manipulator 100 and a basket assembly, the manipulator 100 comprises a hand grip 1 for gripping basketball, a first connecting arm 2, a second connecting arm 3, a base 4 and a sliding seat 5, the sliding seat 5 is slidably arranged on a sliding seat 8, the base 4 is rotatably arranged on the sliding seat 5 along an axis extending in the vertical direction, one end part of the second connecting arm 3 is rotatably connected with the upper end part of the base 4 through a third rotating shaft 63, the other end part of the second connecting arm 3 is rotatably connected with one end part of the first connecting arm 2 through a second rotating shaft 62, the hand grip 1 is rotatably connected to the other end portion of the first connecting arm 2 by a first rotation shaft 61, and the first rotation shaft 61, the second rotation shaft 62 and the third rotation shaft 63 are extended in the horizontal direction and are parallel to each other. The gripper 1 comprises a plurality of clamping jaws 12 which can be mutually opened and closed, the clamping jaws 12 have an open state and a closed state, when the free end parts of the clamping jaws 12 are in the open state, the clamping jaws 12 are separated from each other, and when the clamping jaws 12 are in the closed state, the free end parts of the clamping jaws 12 are close to each other. The hand grip 1 also comprises a spherical cover cap with a downward opening for covering basketball, the cover cap is provided with a plurality of gaps 11 extending from the top to the bottom, the gaps 11 are arranged in one-to-one correspondence with the clamping jaws 12, and when the clamping jaws 12 are opened, the gaps 11 can be used for the corresponding clamping jaws 12 to pass through. The bottom of sliding seat 5 be provided with a plurality of spouts 51 that extend along the Y axis direction and set up, slide 8 on be provided with a plurality of slide rail 81 that extend along the Y axis direction and set up, spout 51 with slide rail 81 one-to-one, just spout 51 card establish slide rail 81 on and along slide rail 81 slidable setting. The basket assembly includes a basket 72, a mounting bar 71 for mounting the basket 72, the mounting bar 71 being mounted on a mounting platform. The installation platform is arranged on one side of the sliding seat 8, and the installation platform is gradually arranged in a downward inclination mode from one end far away from the sliding seat 8 to one end close to the sliding seat 8. The side of the mounting platform, which is close to the sliding seat 8, is also provided with a basketball grabbing point 92, two guiding ribs 91 for guiding the basketball to the basketball grabbing point 92, and the distance between the two guiding ribs 91 is gradually reduced from one end far away from the basketball grabbing point 92 to one end close to the basketball grabbing point 92. The slide 8 is also provided with a positioning sensor 82 for positioning the basketball grabbing point 92. The device of the shooting manipulator 100 further comprises a driving device for driving the movement of the grip 1, the first connecting arm 2, the second connecting arm 3 and the base 4. The shooting manipulator device further comprises a controller, wherein the controller is used for calculating the distance between the manipulator 100 and the basket 72 and controlling the driving device to drive the manipulator 100 to move according to the measured distance. The sliding seat 8 is also provided with an opening button.

The start button is manually pressed, a signal is input, the robot picks up the ball at a fixed position immediately after receiving the signal, then the sliding table selects a shooting position, and after moving to a target, the robot makes a shooting action similar to a human arm, and then the ball is thrown into the basket 72.

The robot 100 for shooting according to the present application can accurately shoot a basket 72 after sliding to any position along the sliding rail 81. The ball is grasped by the robot 100 and thrown into the basket 72. The grabbing position of the ball is fixed, and shooting can be achieved through the movement procedure of the manipulator 100.

The above-described embodiments are merely preferred embodiments for fully explaining the present application, and the scope of the present application is not limited thereto. Equivalent substitutions and modifications will occur to those skilled in the art based on the present application, and are intended to be within the scope of the present application. The protection scope of the application is subject to the claims.

Claims

1. The device is characterized by comprising a manipulator and a basket assembly, wherein the manipulator comprises a gripper for gripping basketball, a first connecting arm, a second connecting arm, a base and a sliding seat, the sliding seat is slidably arranged on a sliding seat, the base is rotatably arranged on the sliding seat along an axis extending in the vertical direction, one end part of the second connecting arm is rotatably connected with the upper end part of the base through a third rotating shaft, the other end part of the second connecting arm is rotatably connected with one end part of the first connecting arm through a second rotating shaft, the gripper is rotatably connected to the other end part of the first connecting arm through a first rotating shaft, and the first rotating shaft, the second rotating shaft and the third rotating shaft are horizontally arranged in an extending mode and are parallel to each other;

The gripper comprises a plurality of clamping jaws which can be mutually opened and closed, the clamping jaws have an opened state and a closed state, when the free end parts of the clamping jaws are in the opened state, the clamping jaws are mutually separated, and when the clamping jaws are in the closed state, the free end parts of the clamping jaws are mutually close; the gripper also comprises a spherical cover cap with a downward opening for covering basketball, wherein the cover cap is provided with a plurality of gaps extending from the top to the bottom, the gaps are arranged in one-to-one correspondence with the clamping jaws, and when the clamping jaws are opened, the gaps can be used for the corresponding clamping jaws to pass through; the basketball stand comprises a sliding seat, a basketball grabbing point, a basket assembly and a mounting rod, wherein the sliding seat is arranged at the bottom of the sliding seat and is provided with a plurality of sliding grooves extending along the Y-axis direction;

The robot is provided with a sliding seat, a shooting position is selected by a sliding table, the sliding seat is provided with a shooting button, the sliding seat is also provided with the opening button, the opening button is manually pressed, a signal is input, the robot immediately goes to the fixed position to grab the ball after receiving the signal, and after the sliding seat moves to a target, the robot makes a shooting action similar to a human arm, and then the ball is thrown into a basket.

2. A shooting robot apparatus in accordance with claim 1, wherein said carriage is further provided with a positioning sensor for positioning a basketball gripping point.

3. A shooting robot apparatus in accordance with claim 1, further comprising drive means for driving movement of said hand grip, first link arm, second link arm and said base.

4. A shooting robot apparatus in accordance with claim 3, further comprising a controller for calculating a distance of the robot from the basket and controlling the driving means to drive the robot to move in accordance with the measured distance.