CN108939490A - Ping-pong robot - Google Patents
Ping-pong robot Download PDFInfo
- Publication number
- CN108939490A CN108939490A CN201811172808.2A CN201811172808A CN108939490A CN 108939490 A CN108939490 A CN 108939490A CN 201811172808 A CN201811172808 A CN 201811172808A CN 108939490 A CN108939490 A CN 108939490A
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- Prior art keywords
- joint
- ping
- driving joint
- driving
- connecting rod
- Prior art date
- 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.)
- Granted
Links
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 239000012636 effector Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 241000288673 Chiroptera Species 0.000 description 2
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
-
- 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
Abstract
The invention discloses a kind of ping-pong robots, it is related to robotic technology field, the ping-pong robot includes the first driving joint, second driving joint, third drives joint, 4 wheel driven movable joint, 5th driving joint, 6th driving joint and table tennis bat, first driving joint, second driving joint, third drives joint, 4 wheel driven movable joint, 5th driving joint, 6th driving joint and table tennis bat are sequentially connected, first connecting rod is provided between the second driving joint and third driving joint, second connecting rod is provided between the third driving joint and the 4 wheel driven movable joint, first driving joint has translation freedoms in the horizontal direction, second driving joint, third drives joint, 5th driving joint, 6th driving joint has rotary freedom, the 4 wheel driven movable joint There are translation freedoms in vertical direction.The ping-pong robot striking limits on the ball is wide, movement velocity is fast, striking speed is fast.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of ping-pong robot.
Background technique
Ping-pong robot is a kind of robot that soldier's pang ball can be played with the mankind.
Existing ping-pong robot there are mainly two types of form: a 1, five-freedom parallel tool arm is projecting solid
Table tennis bat is connected with due to the end of the upper surface of ping-pong table, the parallel mechanical arm.2, ping-pong robot includes one five
The series connection mechanical arm and the straight line slide unit parallel with ping-pong table width direction, mechanical arm of freedom degree can be along ping-pong table width
Direction moves along a straight line.
In general, in the case where same size, the space of the space of parallel mechanical arm than mechanical arm of connecting
It is much smaller, so the motion range of the first above-mentioned ping-pong robot is very limited, although above-mentioned second of robot is in X
The motion range in direction is sufficiently large, but motion range is too small in the Y direction, and (wherein X, Y-direction please refer to shown in Fig. 1) can only
The table tennis close to ball table side edge is struck, and the movement velocity of the serial manipulator point-to-point is slow, cannot be connected to compared with high ball speed
Table tennis.
Summary of the invention
The purpose of the present invention is to provide a kind of ping-pong robots, to solve ping-pong robot fortune in the prior art
The dynamic technical problem that speed is slow, striking speed is slow.
The present invention is achieved by the following technical solutions:
An aspect of of the present present invention provides a kind of ping-pong robot, the ping-pong robot include the first driving joint,
Second driving joint, third driving joint, 4 wheel driven movable joint, the 5th driving joint, the 6th driving joint and table tennis bat,
First driving joint, the second driving joint, third driving joint, 4 wheel driven movable joint, the 5th driving joint, the 6th driving
Joint and table tennis bat are sequentially connected, and are provided with the first company between the second driving joint and third driving joint
Bar is provided with second connecting rod between the third driving joint and the 4 wheel driven movable joint, first driving joint is in water
Square to translation freedoms, second driving joint, third driving joint, the 5th driving joint, the 6th driving joint
With rotary freedom, the 4 wheel driven movable joint has translation freedoms in vertical direction.
Ping-pong robot as described above, first driving joint includes line slide rail, and first driving joint exists
There are translation freedoms on the line slide rail, described first drives diarthrodial output end is slidably connected with the line slide rail,
Described second, which drives diarthrodial fixing end, drives diarthrodial output end with described first and connect, the first end of the first connecting rod and
Described second drives diarthrodial output end connection, and the second end of the first connecting rod and the third are driven diarthrodial fixing end and connected
Connect, the first end of the second connecting rod and the third are driven diarthrodial output end and connects, the second end of the second connecting rod and
The diarthrodial fixing end connection of 4 wheel driven, the described 5th drives diarthrodial fixing end and the diarthrodial output of 4 wheel driven
End connection, the described 6th, which drives diarthrodial fixing end, drives diarthrodial output end with the described 5th and connect, the table tennis bat and
Described 6th drives diarthrodial output end connection.
Ping-pong robot as described above, the line slide rail are parallel with the middle line of ping-pong table along its length.
Ping-pong robot as described above, the first connecting rod and the second connecting rod are horizontally disposed.
Ping-pong robot as described above, the length of the second connecting rod are greater than the length of the first connecting rod.
Ping-pong robot as described above, the diarthrodial output end of 4 wheel driven are lead screw.
Ping-pong robot as described above, further includes the bracket for supporting the line slide rail, and the bracket includes first
Type frame and the second gate frame, the first end of the line slide rail are fixed on first gate frame, and the straight line is sliding
The second end of rail is fixed on second gate frame, and the width of first gate frame and the second gate frame is all larger than
The width of ping-pong table.
Ping-pong robot as described above, the line slide rail are lifted on the top of ping-pong table side.
Ping-pong robot as described above further includes camera, wherein in the ping-pong robot in use, described
Camera and the supporting support are located at the ipsilateral of ping-pong table.
Ping-pong robot as described above, the camera are arranged on vision bracket, and the vision bracket is arranged in institute
It states on the first gate frame or second gate frame, the quantity of the camera is two.
Ping-pong robot of the invention includes the first driving joint, the second driving joint, third driving joint, 4 wheel driven
Movable joint, the 5th driving joint, the 6th driving joint and table tennis bat, first driving joint, the second driving joint, the
Three driving joints, 4 wheel driven movable joint, the 5th driving joint, the 6th driving joint and table tennis bat are sequentially connected, and described the
First connecting rod, the third driving joint and the 4th driving are provided between two driving joints and third driving joint
Second connecting rod is provided between joint, the speed of table tennis bat square stance Y-direction is by the first driving joint and the second driving joint Y
The speed in direction provides simultaneously, can be realized higher striking speed, position of the table tennis bat in X/Y plane is by the first driving
Joint, the second driving joint, third driving joint, first connecting rod and second connecting rod co- controlling, greatly improve table tennis
Clap motion range in X/Y plane, 4 wheel driven movable joint controls racket in the position of Z-direction, in conjunction with the first driving joint, the
The control in two driving joints, third driving joint, first connecting rod and second connecting rod, can make ping-pong robot realize XYZ tri-
Large range of movement in dimension space, the 5th driving joint and the 6th driving joint adjust the posture of table tennis bat jointly, make table tennis
Posture needed for pang ball reaches batting.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of ping-pong robot use state provided in an embodiment of the present invention；
Fig. 2 is ping-pong robot partial structural diagram provided in an embodiment of the present invention.
Description of symbols:
11- first drives joint；12- second drives joint；
13- third drives joint；14- 4 wheel driven movable joint；
15- the 5th drives joint；16- the 6th drives joint；
17- table tennis bat；18- first connecting rod；
19- second connecting rod；21- line slide rail.
22- supporting support；23- camera.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " includes " used herein and " having " and they
Any deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, being
System, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or
For the intrinsic other step or units of these process, methods, product or equipment.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Furthermore unless specifically defined or limited otherwise, term " first ", " second " etc. are used for description purposes only, without
It can be interpreted as indication or suggestion relative importance or implicitly indicate the quantity of indicated technical characteristic.
Existing ping-pong robot is mainly include the following types: 1, ping-pong robot includes one five by degree parallel manipulator
The end of arm, mechanical arm is connected with table tennis bat, this five is fixed on above ping-pong table by degree parallel mechanical arm is projecting.2, it rattles
Ball robot include a five degree of freedom series connection mechanical arm and the linear motion mould group parallel with ping-pong table width direction.
The first above-mentioned ping-pong robot motion range is very limited, although above-mentioned second of robot is transported in X-direction
Dynamic range is sufficiently large, but motion range is too small in the Y direction, (wherein X, Y-direction please refer to shown in Fig. 1), and the series connection
The movement velocity of mechanical arm is slow, causes the striking speed of ping-pong robot also relatively slow.
A kind of mechanical arm is proposed the present invention is based on problem above and with its ping-pong robot.
It describes in detail combined with specific embodiments below to ping-pong robot provided by the invention.
Fig. 1 is the structural schematic diagram of ping-pong robot use state provided in an embodiment of the present invention, and Fig. 2 is that the present invention is real
The ping-pong robot structural schematic diagram for applying example offer please refers to Fig. 1, shown in 2, and the present embodiment provides a kind of table tennis machines
People, the ping-pong robot include that the first driving joint 11, second drives joint 12, third driving joint the 13, the 4th to drive
Joint the 14, the 5th drives joint the 15, the 6th to drive joint 16 and table tennis bat 17, and first driving joint 11, second is driven
Movable joint 12, third driving joint 13,4 wheel driven movable joint the 14, the 5th drive joint the 15, the 6th to drive joint 16 and table tennis
Racket 17 is sequentially connected, and is provided with first connecting rod 18, institute between the second driving joint 12 and third driving joint 13
It states and is provided with second connecting rod 19 between third driving joint and the 4 wheel driven movable joint, first driving joint 11 is in level
Direction has translation freedoms, and second driving joint 12, third driving joint the 13, the 5th drive joint the 15, the 6th to drive
Joint 16 has rotary freedom, and the 4 wheel driven movable joint 14 has translation freedoms in vertical direction.
Please refer to Fig. 1, shown in 2, in the present embodiment, first driving joint 11, second drives joint 12, first connecting rod
18, third driving joint 13, second connecting rod 19 realize movement of the table tennis bat in X/Y plane jointly, greatly improve table tennis
Motion range of the racket in X/Y plane, the speed of table tennis bat square stance Y-direction is by the first driving joint 11 and the second driving
The speed of joint 12 in the Y direction provides simultaneously, can be realized higher striking speed.Wherein the direction of X, Y, Z please refer in Fig. 1
It is shown.
Further, in this embodiment first driving joint includes line slide rail 21, first driving joint 12
There are translation freedoms on the line slide rail 21, the output end and the line slide rail 21 in first driving joint 11 are sliding
The fixing end of dynamic connection, second driving joint 12 is connect with the output end in first driving joint 11, and described first connects
The first end of bar 18 is connect with the output end in second driving joint 12, the second end and the third of the first connecting rod 18
Drive the fixing end connection in joint 13, the output end company of the first end of the second connecting rod 19 and third driving joint 13
It connects, the second end of the second connecting rod 19 is connect with the fixing end of the 4 wheel driven movable joint 14, the 5th driving joint 15
Fixing end connect with the output end of the 4 wheel driven movable joint 14, it is described 6th driving joint 16 fixing end and the described 5th
The output end connection in joint 15 is driven, the table tennis bat 17 is connect with the output end in the 6th driving joint 16.This implementation
In example, the line slide rail 21 is parallel with the middle line of ping-pong table along its length.
Further, in this embodiment the first connecting rod 18 and the second connecting rod 19 are horizontally disposed.The present embodiment
Described in first driving joint 11, second drive joint 12, third driving joint 13 freedom degree all have the freedom in plane
Degree, the first driving joint 11, second drive the movement in joint 12, third driving joint 13 not need to overcome gravity acting, and
These three driving joints are proximate to the driving joint of line slide rail, are load quality maximum three drivings joints, and first is driven
Movable joint 11, second drives the freedom degree in joint 12, third driving joint 13 to be designed as the freedom degree in plane, can be effective
Reduce driving power, the movement velocity of biggish hoisting machine people is capable of under identical driving power, the present embodiment is to described
The specific length and material of first connecting rod 18 and second connecting rod 19 are not particularly limited.
Further, in the present embodiment, the length of the second connecting rod 19 is greater than the length of the first connecting rod 18.By
There are translation freedoms in vertical direction in 4 wheel driven movable joint 14, in order to enable first connecting rod 18 will not be to 4 wheel driven movable joint
14 freedom degree causes to interfere, and the length of second connecting rod 19 is set greater than the length of the first connecting rod 18 by the present embodiment.
In the present embodiment, the output end of the 4 wheel driven movable joint 14 is lead screw.
Further, in this embodiment the movement of line slide rail 21 for convenience, the ping-pong robot further includes using
In the supporting support 22 for supporting the line slide rail 21, the supporting support 22 includes symmetrical first gate frame and second
Type frame, the first end of the line slide rail 21 are fixed on first frame, and the second end of the line slide rail 21 is fixed
On second frame, the width of first gate frame and the second gate frame is greater than the width of ping-pong table.This reality
The line slide rail 21 for applying example is supported by bracket, can be moved the ping-pong robot of the present embodiment by mobile supporting support 22
Moving needs position to be used.Line slide rail 21 can be lifted on to the top of ping-pong table side in other embodiments, this
The first driving joint 11 is straight line slide unit described in embodiment.
Further, the present embodiment further includes vision bracket, is provided with camera 23 on the vision bracket, wherein in institute
Ping-pong robot is stated in use, the vision bracket and the supporting support 22 are located at ipsilateral, the present embodiment of ping-pong table
In, the vision bracket is arranged on first gate frame or second gate frame, sets on the vision bracket
The camera 23 there are two setting.Ping-pong robot at work, after camera 23 collects table tennis image, passes through
Prediction algorithm predicts falling sphere point, calculates hitting point, bats.
Refering to Figure 1, batting of the present embodiment by taking diagrammatically shown hitting point as an example to the ping-pong robot
Motion process is described:
Ping-pong robot acquires the image after table tennis leaves racket by camera 23, passes through image recognition algorithm pair
Table tennis track in image is identified, is predicted by trajectory planning algorithm table tennis foothold, and is calculated and launched an attack
Ball point, ping-pong robot control each driving joint and are moved, by the first driving joint 11, second driving joint 12,
Third driving joint 13, first connecting rod 18 and second connecting rod 19 control table tennis bat and reach the position in X/Y plane, pass through
4 wheel driven movable joint 14 controls table tennis bat and reaches required position, the 5th driving joint 15 and the 6th driving joint in z-direction
The posture of 16 adjustment table tennis bats, makes table tennis bat reach position and the posture of batting, and passes through the first driving joint 11 and the
Speed needed for two driving joints 12 provide batting is batted.
Ping-pong robot of the invention includes the first driving joint, the second driving joint, third driving joint, 4 wheel driven
Movable joint, the 5th driving joint, the 6th driving joint and table tennis bat, first driving joint, the second driving joint, the
Three driving joints, 4 wheel driven movable joint, the 5th driving joint, the 6th driving joint and table tennis bat are sequentially connected, and described the
First connecting rod, the third driving joint and the 4th driving are provided between two driving joints and third driving joint
Second connecting rod is provided between joint, the speed of table tennis bat square stance Y-direction is by the first driving joint and the second driving joint Y
The speed in direction provides simultaneously, can be realized higher striking speed, position of the table tennis bat in X/Y plane is by the first driving
Joint, the second driving joint, third driving joint, first connecting rod and second connecting rod co- controlling, greatly improve table tennis
Clap motion range in X/Y plane, 4 wheel driven movable joint controls racket in the position of Z-direction, in conjunction with the first driving joint, the
The control in two driving joints, third driving joint, first connecting rod and second connecting rod, can make ping-pong robot realize XYZ tri-
Large range of movement in dimension space, the 5th driving joint and the 6th driving joint adjust the posture of table tennis bat jointly, make table tennis
Posture needed for pang ball reaches batting.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of ping-pong robot, it is characterised in that:
The ping-pong robot include first driving joint, second driving joint, third driving joint, 4 wheel driven movable joint,
5th driving joint, the 6th driving joint and end effector, first driving joint, the second driving joint, third are driven
Movable joint, 4 wheel driven movable joint, the 5th driving joint, the 6th driving joint and table tennis bat are sequentially connected, and described second drives
First connecting rod, the third driving joint and the 4 wheel driven movable joint are provided between movable joint and third driving joint
Between be provided with second connecting rod, first driving joint has a translation freedoms in the horizontal direction, second driving joint,
Third drives joint, the 5th driving joint, the 6th driving joint to have rotary freedom, and the 4 wheel driven movable joint is in vertical side
To with translation freedoms.
2. ping-pong robot according to claim 1, it is characterised in that:
First driving joint includes line slide rail, and first driving joint has translation freely on the line slide rail
Degree, described first drives diarthrodial output end is slidably connected with the line slide rail, described second drive diarthrodial fixing end and
Described first drives diarthrodial output end connection, and the first end of the first connecting rod and described second drive diarthrodial output end and connect
Connect, the second end of the first connecting rod and the third are driven diarthrodial fixing end and connects, the first end of the second connecting rod and
The third drives diarthrodial output end connection, and the second end of the second connecting rod and the diarthrodial fixing end of the 4 wheel driven connect
It connects, the described 5th drives diarthrodial fixing end connect with the diarthrodial output end of 4 wheel driven, and the 6th drive is diarthrodial
Fixing end is driven diarthrodial output end with the described 5th and is connect, and the table tennis bat and the described 6th drives diarthrodial output end company
It connects.
3. ping-pong robot according to claim 2, it is characterised in that:
The line slide rail is parallel with the middle line of ping-pong table along its length.
4. ping-pong robot according to claim 1, it is characterised in that:
The first connecting rod and the second connecting rod are horizontally disposed.
5. ping-pong robot according to claim 4, it is characterised in that:
The length of the second connecting rod is greater than the length of the first connecting rod.
6. ping-pong robot according to claim 2, it is characterised in that:
The diarthrodial output end of 4 wheel driven is lead screw.
7. ping-pong robot according to claim 2, it is characterised in that:
It further include the bracket for supporting the line slide rail, the bracket includes the first gate frame and the second gate frame, described
The first end of line slide rail is fixed on first gate frame, and the second end of the line slide rail is fixed on described second
On type frame, the width of first gate frame and the second gate frame is all larger than the width of ping-pong table.
8. ping-pong robot according to claim 2, it is characterised in that:
The line slide rail is lifted on the top of ping-pong table side.
9. ping-pong robot according to claim 7, it is characterised in that:
It further include camera, wherein in the ping-pong robot in use, the camera and the supporting support are located at table tennis
Pang ball table it is ipsilateral.
10. ping-pong robot according to claim 9, it is characterised in that:
The camera is arranged on vision bracket, and the vision bracket is arranged in first gate frame or described second
On gate frame, the quantity of the camera is two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811172808.2A CN108939490B (en) | 2018-10-09 | 2018-10-09 | Table tennis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811172808.2A CN108939490B (en) | 2018-10-09 | 2018-10-09 | Table tennis robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108939490A true CN108939490A (en) | 2018-12-07 |
| CN108939490B CN108939490B (en) | 2021-04-23 |
Family
ID=64472899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811172808.2A Active CN108939490B (en) | 2018-10-09 | 2018-10-09 | Table tennis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108939490B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114712814A (en) * | 2022-02-23 | 2022-07-08 | 合肥工业大学 | Five-degree-of-freedom table tennis partner training robot |
| CN114800559A (en) * | 2022-04-24 | 2022-07-29 | 浙江深酷机器人有限公司 | Intelligent table tennis robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114712814A (en) * | 2022-02-23 | 2022-07-08 | 合肥工业大学 | Five-degree-of-freedom table tennis partner training robot |
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| CN114800559B (en) * | 2022-04-24 | 2024-03-12 | 浙江深酷机器人有限公司 | Intelligent table tennis robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108939490B (en) | 2021-04-23 |
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