CN108686359A - A kind of multivariant ball-throwing apparatus - Google Patents
A kind of multivariant ball-throwing apparatus Download PDFInfo
- Publication number
- CN108686359A CN108686359A CN201810572826.3A CN201810572826A CN108686359A CN 108686359 A CN108686359 A CN 108686359A CN 201810572826 A CN201810572826 A CN 201810572826A CN 108686359 A CN108686359 A CN 108686359A
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- bearing
- arm
- hinged
- hydraulic stem
- motor
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- 210000000245 forearm Anatomy 0.000 claims description 20
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 210000003464 cuspid Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- 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
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of multivariant ball-throwing apparatus, belong to robot field comprising toss mouth, Multi-shaft mechanical arm, bottom rotating mechanism, toss mouth are mounted on the upper end of Multi-shaft mechanical arm, and bottom rotating mechanism is mounted on the lower end of Multi-shaft mechanical arm;Apparatus of the present invention are rotated by bottom, coordinate Multi-shaft mechanical arm;Eventually by toss mouth opening and closing adjustable structure, the purpose for precisely quickly grabbing ball and pitching is realized, the present apparatus is simple for structure, easy to operate, is suitable for industrialized production and marketing application.
Description
Technical field
The present invention relates to a kind of multivariant ball-throwing apparatus, belong to field in intelligent robotics.
Background technology
With being constantly progressive for science and technology, more and more machines get their way into people's lives, especially intelligent machine in recent years
Tool is of increased attention, and various robots subsequently enter in daily life, and especially this year carrys out artificial intelligence
The concept of energy is increasingly deep into our lives, and the present invention provides a kind of shooting mechanical arm for Basketball Intellectual Robot, mostly certainly
By spending, it can be achieved that accurate bodyline bowling.
Existing machinery arm, mostly uses single control mode, cost and kinematic accuracy fail it is good combine, the present invention
A kind of design scheme is provided, whole arm uses hydraulic control, pitching mouth to be controlled using motor, cost and kinematic accuracy are considered
To optimal, and whole arm can realize that 360 degree rotate freely, and also significantly increase practicability and the flexibility of mechanical arm.
Invention content
The object of the present invention is to provide a kind of multivariant ball-throwing apparatus, by offer multi-degree-of-freemechanical mechanical arm, then match
The accurate opening and closing control of ball mouth is grabbed in conjunction, you can realizes fast accurate pitching.
The multivariant ball-throwing apparatus of the present invention includes toss mouth, Multi-shaft mechanical arm, bottom rotating mechanism, the installation of toss mouth
In the upper end of Multi-shaft mechanical arm, bottom rotating mechanism is mounted on the lower end of Multi-shaft mechanical arm;
The toss mouth includes push plate, pushing meanss, 4 inclusion plates, 4 guide rods, and wherein pushing meanss include shaft coupling, push away
Bar, leading screw, motor, fulcrum bearing, by pin connection in the middle part of fulcrum bearing, inclusion plate is fixed on the guide rod other end guide rod, and 4
A inclusion plate forms a circular ring structure, and push plate is fixed on push rod and between 4 guide rods, and is moved along guide rod;Motor
It is arranged in fulcrum bearing, the output shaft of motor connect by shaft coupling with leading screw one end, the leading screw other end and across fulcrum bearing top
The push rod in portion connects;The bottom rotating mechanism includes driving motor, bearing cover, disk cover, lantern ring, bottom gear wheel, revolution
Spring bearing, bottom pinion gear, lantern ring are sleeved on outside the gear wheel of bottom, and the outer shroud of slewing bearing is fixed on lantern ring upper end,
Bearing cover is fixed in the inner ring of slewing bearing, and driving motor is fixed on bearing cover, and driving motor output shaft is worn
It crosses bearing cover to be connected with bottom pinion gear, while bottom pinion gear upper surface is connected with bearing cover inner surface, bottom canine tooth
Wheel is meshed with bottom pinion gear, and disk cover is sleeved on the outside of bearing cover and bottom rotating mechanism is fixed on machine sheet by it
Body rear end;The Multi-shaft mechanical arm includes forearm, forearm hydraulic stem, middle arm, middle arm hydraulic stem, large arm, large arm hydraulic stem, forearm
One end is connect by pin with fulcrum bearing bottom end, and the other end is connect by pin with the telescopic rod of forearm hydraulic stem, forearm hydraulic stem
The other end is hinged with the supermedial hinged-support of middle arm, and middle arm one end is connected on forearm, and the other end passes through pin and middle arm hydraulic stem
Telescopic rod connection, the other end of middle arm hydraulic stem is hinged with the supermedial hinged-support of large arm, and large arm one end is connected on middle arm,
The other end is connect with the hinged-support on bearing cover, the hinged-support connection on the telescopic rod and large arm of large arm hydraulic stem, the other end
It is connected on the hinged-support of bearing cover.
Motor mounting groove is provided in the fulcrum bearing, motor is mounted in motor mounting groove.
It is provided with guide groove on the guide rod, 4 guide rod mounting grooves are provided in push plate, are provided with axis in guide rod mounting grooves, axis is set
It sets in guide groove and is moved along it.
Present apparatus operation principle is:Driving motor work drives the bottom pinion gear being matched therewith along bottom gear wheel
Inner ring rotates, then slewing bearing is coordinated to use, you can realizes that the rotation of entire ball-throwing apparatus, each mechanical arm pass through hydraulic pressure
Component realizes its lifting and declines that dishing out for ball provides initial velocity and run more reliable, toss mouth when grabbing ball when being pitching
Driving screw mechanism operation is rotated by motor, push plate is above pushed away or pulled down, four pieces of inclusion plate opening and closing is realized, completes to throw
Ball is used in combination, you can realize toss operation with ball, final bottom rotation, the activity of mechanical arm, the folding of toss mouth is grabbed.
The invention has the advantages that:
1, the present invention have the characteristics that rotate freely, multi-joint mechanical arm structure, toss mouth aperture is adjustable, it can be achieved that device mostly oneself
By spending, the advantages that operational coverage area is wide;
2, the present invention coordinates control using mechanical, electrical, liquid, has the characteristics that deft design;
3, the configuration of the present invention is simple, mechanism is succinct, reliable for operation, and manufacturing cost is low, O&M cost is low, extensively can be used for a variety of balls by model
Class intelligent robot.
Description of the drawings
Fig. 1 is present apparatus structural schematic diagram;
Fig. 2 is toss mouth structure schematic diagram;
Fig. 3 is pushing meanss structural schematic diagram;
Fig. 4 is pusher structure schematic diagram;
Fig. 5 is bearing arrangement schematic diagram;
Fig. 6 is Multi-shaft mechanical arm structural schematic diagram;
Fig. 7 is push plate and guide rod structure schematic diagram;
Fig. 8 is bottom rotating mechanism structural schematic diagram;
Fig. 9 is bottom gears part-structure schematic diagram;
Figure 10 is bottom gears part-structure schematic diagram;
Figure 11 is disk cover structural schematic diagram;
In figure:1:Toss mouth;2:Multi-shaft mechanical arm;3:Bottom rotating mechanism;4:Push plate;5:Pushing meanss;6:Include plate;7:It leads
Bar;8:Shaft coupling;9:Push rod;10:Leading screw;11:Motor;12:Fulcrum bearing;13:Forearm;14:Forearm hydraulic stem;15:Middle arm;
16:Middle arm hydraulic stem;17:Large arm;18:Large arm hydraulic stem;19:Driving motor;20:Motor mounting groove;21:Bearing cover;22:
Disk cover;23:Lantern ring;24:Bottom gear wheel;25:Slewing bearing;26:Bottom pinion gear;27:Guide groove;28:Guide rod is pacified
Tankage;29:Axis.
Specific implementation mode
The present invention is described in further details below by drawings and examples, but the scope of the present invention be not limited to it is described
Content.
Embodiment 1:As shown in figs. 1-11, this multivariant ball-throwing apparatus includes toss mouth 1, Multi-shaft mechanical arm 2, bottom
Rotating mechanism 3, toss mouth 1 are mounted on the upper end of Multi-shaft mechanical arm 2, and bottom rotating mechanism 3 is mounted under Multi-shaft mechanical arm 2
End;The toss mouth 1 includes 5,4 push plate 4, pushing meanss inclusion 6,4 guide rods 7 of plate, and wherein pushing meanss 5 include shaft coupling
8, push rod 9, leading screw 10, motor 11, fulcrum bearing 12,7 one end of guide rod by pin connection at 12 middle part of fulcrum bearing, fix by inclusion plate 6
On 7 other end of guide rod, 4 inclusion plates 6 form a circular ring structures, push plate 4 be fixed on push rod 9 and positioned at 4 guide rods it
Between, and moved along guide rod;Motor 11 is arranged in fulcrum bearing 12, and the output shaft of motor 11 passes through shaft coupling 8 and 10 one end of leading screw
Connection, 10 other end of leading screw are connect with the push rod 9 across 12 top of fulcrum bearing;The bottom rotating mechanism 3 includes driving motor
19, bearing cover 21, disk cover 22, lantern ring 23, bottom gear wheel 24, slewing bearing 25, bottom pinion gear 26,23 sets of lantern ring
Outside bottom gear wheel 24, the outer shroud of slewing bearing 25 is fixed on 23 upper end of lantern ring, and bearing cover 21 is fixed on revolution
In the inner ring of spring bearing 25, driving motor 19 is fixed on bearing cover 21, and 19 output shaft of driving motor passes through bearing cover
21 are connected with bottom pinion gear 26, while pinion gear 26 upper surface in bottom is connected with 21 inner surface of bearing cover, bottom gear wheel
24 are meshed with bottom pinion gear 26, and disk cover 22 is sleeved on 21 outside of bearing cover;The Multi-shaft mechanical arm 2 include forearm 13,
Forearm hydraulic stem 14, middle arm 15, middle arm hydraulic stem 16, large arm 17, large arm hydraulic stem 18,13 one end of forearm pass through pin and fulcrum bearing
12 bottom ends connect, and the other end is connect by pin with the telescopic rod of forearm hydraulic stem 14, the other end of forearm hydraulic stem 14 and middle arm
15 supermedial hinged-supports are hinged, and 15 one end of middle arm is connected on forearm 13, and the other end is stretched by pin and middle arm hydraulic stem 16
Contracting bar connects, and the other end of middle arm hydraulic stem 16 is hinged with 17 supermedial hinged-support of large arm, and 17 one end of large arm is connected to middle arm
On 15, the other end is connect with the hinged-support on bearing cover 21, telescopic rod and the hinged-support in large arm 17 of large arm hydraulic stem 18
Connection, the other end are connected on the hinged-support of bearing cover 21.
Embodiment 2:Present apparatus structure is with embodiment 1, and difference is to be provided with motor mounting groove 20 in fulcrum bearing 12, motor 11
In motor mounting groove 20;It is provided with guide groove 27 on guide rod 7,4 guide rod mounting grooves 28, guide rod mounting grooves are provided in push plate 4
Axis 29 is provided in 28, axis setting is in guide groove 27 and is moved along it(Fig. 5,7).
Claims (3)
1. a kind of multivariant ball-throwing apparatus, it is characterised in that:Including toss mouth(1), Multi-shaft mechanical arm(2), bottom rotation
Mechanism(3), toss mouth(1)Mounted on Multi-shaft mechanical arm(2)Upper end, bottom rotating mechanism(3)Mounted on Multi-shaft mechanical arm(2)
Lower end;
The toss mouth(1)Including push plate(4), pushing meanss(5), 4 inclusion plates(6), 4 guide rods(7), wherein pushing meanss
(5)Including shaft coupling(8), push rod(9), leading screw(10), motor(11), fulcrum bearing(12), guide rod(7)One end is existed by pin connection
Fulcrum bearing(12)Middle part includes plate(6)It is fixed on guide rod(7)On the other end, 4 inclusion plates(6)A circular ring structure is formed, is pushed away
Plate(4)It is fixed on push rod(9)Above and between 4 guide rods, and moved along guide rod;Motor(11)It is arranged in fulcrum bearing(12)
It is interior, motor(11)Output shaft pass through shaft coupling(8)With leading screw(10)One end connects, leading screw(10)The other end with pass through fulcrum bearing
(12)The push rod at top(9)Connection;
The bottom rotating mechanism(3)Including driving motor(19), bearing cover(21), disk cover(22), lantern ring(23), bottom it is big
Gear(24), slewing bearing(25), bottom pinion gear(26), lantern ring(23)It is sleeved on bottom gear wheel(24)Outside, it turns round
Spring bearing(25)Outer shroud be fixed on lantern ring(23)Upper end, bearing cover(21)It is fixed on slewing bearing(25)Inner ring
On, driving motor(19)It is fixed on bearing cover(21)On, driving motor(19)Output shaft passes through bearing cover(21)With bottom
Pinion gear(26)It is connected, while bottom pinion gear(26)Upper surface and bearing cover(21)Inner surface is connected, bottom gear wheel
(24)With bottom pinion gear(26)It is meshed, disk cover(22)It is sleeved on bearing cover(21)Outside;
The Multi-shaft mechanical arm(2)Including forearm(13), forearm hydraulic stem(14), middle arm(15), middle arm hydraulic stem(16), large arm
(17), large arm hydraulic stem(18), forearm(13)One end passes through pin and fulcrum bearing(12)Bottom end connects, and the other end passes through pin and forearm
Hydraulic stem(14)Telescopic rod connection, forearm hydraulic stem(14)The other end and middle arm(15)Supermedial hinged-support is hinged, in
Arm(15)One end is connected to forearm(13)On, the other end passes through pin and middle arm hydraulic stem(16)Telescopic rod connection, middle arm hydraulic pressure
Bar(16)The other end and large arm(17)Supermedial hinged-support is hinged, large arm(17)One end is connected to middle arm(15)On, it is another
End and bearing cover(21)On hinged-support connection, large arm hydraulic stem(18)Telescopic rod and large arm(17)On hinged-support connect
It connects, the other end is connected to bearing cover(21)Hinged-support on.
2. multivariant ball-throwing apparatus according to claim 1, it is characterised in that:Fulcrum bearing(12)On be provided with motor peace
Tankage(20), motor(11)Mounted on motor mounting groove(20)It is interior.
3. multivariant ball-throwing apparatus according to claim 1, it is characterised in that:Guide rod(7)On be provided with guide groove(27),
Push plate(4)On be provided with 4 guide rod mounting grooves(28), guide rod mounting grooves(28)Inside it is provided with axis(29), axis setting is in guide groove(27)
It is interior and be moved along it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810572826.3A CN108686359A (en) | 2018-06-06 | 2018-06-06 | A kind of multivariant ball-throwing apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810572826.3A CN108686359A (en) | 2018-06-06 | 2018-06-06 | A kind of multivariant ball-throwing apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108686359A true CN108686359A (en) | 2018-10-23 |
Family
ID=63848905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810572826.3A Pending CN108686359A (en) | 2018-06-06 | 2018-06-06 | A kind of multivariant ball-throwing apparatus |
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| Country | Link |
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| CN (1) | CN108686359A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120082646A (en) * | 2011-01-14 | 2012-07-24 | 박훤 | Humanoid pitching machine |
| CN104128927A (en) * | 2014-04-24 | 2014-11-05 | 安徽工程大学 | Robot gripping device |
| CN205363403U (en) * | 2016-02-04 | 2016-07-06 | 宁夏勤昌滚动轴承制造有限公司 | Automatic loading and unloading robot for turning inner ring and outer ring of bearing |
| CN106799033A (en) * | 2017-03-09 | 2017-06-06 | 武汉科技大学 | Portable badminton service robot device people |
| CN206306127U (en) * | 2016-11-25 | 2017-07-07 | 康为同创集团有限公司 | New car wheel shape basket-playing machine device people |
| US20180071912A1 (en) * | 2015-05-16 | 2018-03-15 | Abb Schweiz Ag | Rotary supplemental axis for robot |
| CN208525772U (en) * | 2018-06-06 | 2019-02-22 | 昆明理工大学 | A kind of multivariant ball-throwing apparatus |
-
2018
- 2018-06-06 CN CN201810572826.3A patent/CN108686359A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120082646A (en) * | 2011-01-14 | 2012-07-24 | 박훤 | Humanoid pitching machine |
| CN104128927A (en) * | 2014-04-24 | 2014-11-05 | 安徽工程大学 | Robot gripping device |
| US20180071912A1 (en) * | 2015-05-16 | 2018-03-15 | Abb Schweiz Ag | Rotary supplemental axis for robot |
| CN205363403U (en) * | 2016-02-04 | 2016-07-06 | 宁夏勤昌滚动轴承制造有限公司 | Automatic loading and unloading robot for turning inner ring and outer ring of bearing |
| CN206306127U (en) * | 2016-11-25 | 2017-07-07 | 康为同创集团有限公司 | New car wheel shape basket-playing machine device people |
| CN106799033A (en) * | 2017-03-09 | 2017-06-06 | 武汉科技大学 | Portable badminton service robot device people |
| CN208525772U (en) * | 2018-06-06 | 2019-02-22 | 昆明理工大学 | A kind of multivariant ball-throwing apparatus |
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