CN108939490B - Table tennis robot - Google Patents
Table tennis robot Download PDFInfo
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- CN108939490B CN108939490B CN201811172808.2A CN201811172808A CN108939490B CN 108939490 B CN108939490 B CN 108939490B CN 201811172808 A CN201811172808 A CN 201811172808A CN 108939490 B CN108939490 B CN 108939490B
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- 239000012636 effector Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 21
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
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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
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- Engineering & Computer Science (AREA)
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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Robotics (AREA)
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Abstract
The invention discloses a table tennis robot, relating to the technical field of robots, comprising a first driving joint, a second driving joint, a third driving joint, a fourth driving joint, a fifth driving joint, a sixth driving joint and a table tennis bat, the first driving joint, the second driving joint, the third driving joint, the fourth driving joint, the fifth driving joint, the sixth driving joint and the table tennis bat are connected in sequence, a first connecting rod is arranged between the second driving joint and the third driving joint, a second connecting rod is arranged between the third driving joint and the fourth driving joint, the first driving joint has a translational degree of freedom in the horizontal direction, the second driving joint, the third driving joint, the fifth driving joint and the sixth driving joint have a rotational degree of freedom, and the fourth driving joint has a translational degree of freedom in the vertical direction. The table tennis robot has the advantages of wide hitting range, high moving speed and high hitting speed.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a table tennis robot.
Background
The table tennis robot is a robot capable of playing table tennis with human beings.
The existing table tennis robot mainly has the following two forms: 1. a five-freedom-degree parallel mechanical arm is hung upside down and fixed on the table tennis table, and the tail end of the parallel mechanical arm is connected with a table tennis bat. 2. The ping-pong robot comprises a series mechanical arm with five degrees of freedom and a linear sliding table parallel to the width direction of the ping-pong table, and the mechanical arm can perform linear motion along the width direction of the ping-pong table.
Generally, under the same specification, the motion space of the parallel robot arm is much smaller than that of the serial robot arm, so the motion range of the first ping-pong robot is very limited, the motion range of the second robot is large enough in the X direction, but too small in the Y direction, (wherein X, Y direction please refer to fig. 1), only the ping-pong ball close to the edge of the table can be hit, and the point-to-point motion speed of the serial robot is slow, and the ping-pong ball with higher ball speed cannot be hit.
Disclosure of Invention
The invention aims to provide a table tennis robot to solve the technical problems that the table tennis robot in the prior art is low in movement speed and batting speed.
The invention is realized by the following technical scheme:
one aspect of the present invention provides a table tennis robot including a first driving joint, a second driving joint, a third driving joint, a fourth driving joint, a fifth driving joint, a sixth driving joint, and a table tennis bat, the first driving joint, the second driving joint, the third driving joint, the fourth driving joint, the fifth driving joint, the sixth driving joint and the table tennis bat are connected in sequence, a first connecting rod is arranged between the second driving joint and the third driving joint, a second connecting rod is arranged between the third driving joint and the fourth driving joint, the first driving joint has a translational degree of freedom in the horizontal direction, the second driving joint, the third driving joint, the fifth driving joint and the sixth driving joint have a rotational degree of freedom, and the fourth driving joint has a translational degree of freedom in the vertical direction.
As described above, the table tennis robot includes the linear slide rail, the first driving joint has a translational degree of freedom on the linear slide rail, the output end of the first driving joint is connected to the linear slide rail in a sliding manner, the fixed end of the second driving joint is connected to the output end of the first driving joint, the first end of the first connecting rod is connected to the output end of the second driving joint, the second end of the first connecting rod is connected to the fixed end of the third driving joint, the first end of the second connecting rod is connected to the output end of the third driving joint, the second end of the second connecting rod is connected to the fixed end of the fourth driving joint, the fixed end of the fifth driving joint is connected to the output end of the fourth driving joint, and the fixed end of the sixth driving joint is connected to the output end of the fifth driving joint, the table tennis bat is connected with the output end of the sixth driving joint.
As mentioned above, the linear slide rail is parallel to the middle line of the table tennis table along the length direction.
As described above, the first link and the second link are both horizontally disposed.
As mentioned above, the length of the second link is greater than that of the first link.
As mentioned above, the output end of the fourth driving joint is a lead screw.
The table tennis robot further comprises a support for supporting the linear slide rail, the support comprises a first door-shaped frame and a second door-shaped frame, the first end of the linear slide rail is fixed on the first door-shaped frame, the second end of the linear slide rail is fixed on the second door-shaped frame, and the widths of the first door-shaped frame and the second door-shaped frame are both greater than the width of the table tennis table.
As mentioned above, the linear slide rail is hung above one side of the table tennis table.
The table tennis robot further comprises a camera, wherein when the table tennis robot is used, the camera and the supporting bracket are positioned on the same side of the table tennis table.
According to the table tennis robot, the cameras are arranged on the vision support, the vision support is arranged on the first portal frame or the second portal frame, and the number of the cameras is two.
The table tennis robot comprises a first driving joint, a second driving joint, a third driving joint, a fourth driving joint, a fifth driving joint, a sixth driving joint and a table tennis bat, wherein the first driving joint, the second driving joint, the third driving joint, the fourth driving joint, the fifth driving joint, the sixth driving joint and the table tennis bat are sequentially connected, a first connecting rod is arranged between the second driving joint and the third driving joint, a second connecting rod is arranged between the third driving joint and the fourth driving joint, the speed in the Y direction is simultaneously provided by the speeds in the Y direction of the first driving joint and the second driving joint when the table tennis bat strikes a ball, higher ball striking speed can be realized, and the position of the table tennis bat in an XY plane is jointly controlled by the first driving joint, the second driving joint, the third driving joint, the first connecting rod and the second connecting rod, the motion range of the table tennis bat in an XY plane is greatly improved, the fourth driving joint controls the position of the table tennis bat in the Z direction, the table tennis robot can realize motion in a larger range in an XYZ three-dimensional space by combining the control of the first driving joint, the second driving joint, the third driving joint, the first connecting rod and the second connecting rod, and the posture of the table tennis bat is adjusted by the fifth driving joint and the sixth driving joint together, so that the table tennis can reach the posture required for hitting.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a table tennis robot in a use state according to an embodiment of the present invention;
fig. 2 is a schematic view of a partial structure of a table tennis robot according to an embodiment of the present invention.
Description of reference numerals:
11-a first drive joint; 12-a second drive joint;
13-a third drive joint; 14-a fourth drive joint;
15-fifth drive joint; 16-a sixth drive joint;
17-table tennis bat; 18-a first link;
19-a second link; 21-linear slide rail.
22-a support bracket; 23-camera.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, unless explicitly stated or limited otherwise, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
The existing table tennis robot mainly comprises the following components: 1. the table tennis robot comprises a five-freedom-degree parallel mechanical arm, the tail end of the mechanical arm is connected with a table tennis bat, and the five-freedom-degree parallel mechanical arm is reversely hung and fixed above a table tennis table. 2. The ping-pong robot comprises a series mechanical arm with five degrees of freedom and a linear motion module parallel to the width direction of the ping-pong table.
The first table tennis robot has a very limited range of motion, the second robot has a sufficiently large range of motion in the X direction, but has a too small range of motion in the Y direction (see fig. 1 for X, Y), and the serial robot has a slow motion speed, which results in a slow ball hitting speed of the table tennis robot.
The invention provides a mechanical arm and a table tennis robot with the same based on the problems.
The table tennis robot provided by the invention is described in detail with reference to specific embodiments.
Fig. 1 is a schematic structural diagram of a table tennis robot in a use state according to an embodiment of the present invention, fig. 2 is a schematic structural diagram of a table tennis robot according to an embodiment of the present invention, and fig. 1 and 2 show that the present embodiment provides a table tennis robot, where the table tennis robot includes a first driving joint 11, a second driving joint 12, a third driving joint 13, a fourth driving joint 14, a fifth driving joint 15, a sixth driving joint 16, and a table tennis bat 17, the first driving joint 11, the second driving joint 12, the third driving joint 13, the fourth driving joint 14, the fifth driving joint 15, the sixth driving joint 16, and the table tennis bat 17 are sequentially connected, a first connecting rod 18 is disposed between the second driving joint 12 and the third driving joint 13, a second connecting rod 19 is disposed between the third driving joint and the fourth driving joint, the first driving joint 11 has a translational degree of freedom in the horizontal direction, the second driving joint 12, the third driving joint 13, the fifth driving joint 15, and the sixth driving joint 16 have a rotational degree of freedom, and the fourth driving joint 14 has a translational degree of freedom in the vertical direction.
Referring to fig. 1 and 2, in the embodiment, the first driving joint 11, the second driving joint 12, the first link 18, the third driving joint 13, and the second link 19 jointly realize the motion of the table tennis bat in the XY plane, so that the motion range of the table tennis bat in the XY plane is greatly increased, and the speed of the table tennis bat in the Y direction is provided by the speeds of the first driving joint 11 and the second driving joint 12 in the Y direction at the same time when the table tennis bat strikes a ball, so that a high striking speed can be realized. The direction of X, Y, Z is shown in FIG. 1.
Further, in this embodiment, the first driving joint includes a linear slide rail 21, the first driving joint 12 has a translational degree of freedom on the linear slide rail 21, the output end of the first driving joint 11 is connected to the linear slide rail 21 in a sliding manner, the fixed end of the second driving joint 12 is connected to the output end of the first driving joint 11, the first end of the first connecting rod 18 is connected to the output end of the second driving joint 12, the second end of the first connecting rod 18 is connected to the fixed end of the third driving joint 13, the first end of the second connecting rod 19 is connected to the output end of the third driving joint 13, the second end of the second connecting rod 19 is connected to the fixed end of the fourth driving joint 14, the fixed end of the fifth driving joint 15 is connected to the output end of the fourth driving joint 14, the fixed end of the sixth driving joint 16 is connected to the output end of the fifth driving joint 15, the table tennis bat 17 is connected with the output end of the sixth driving joint 16. In this embodiment, the linear slide rail 21 is parallel to a central line of the table tennis table along the length direction.
Further, in the present embodiment, the first link 18 and the second link 19 are both horizontally disposed. In this embodiment, the degrees of freedom of the first driving joint 11, the second driving joint 12, and the third driving joint 13 all have degrees of freedom in a plane, the motions of the first driving joint 11, the second driving joint 12, and the third driving joint 13 do not need to overcome gravity to do work, and the three driving joints are driving joints close to a linear slide rail and are three driving joints with the largest load mass, and the degrees of freedom of the first driving joint 11, the second driving joint 12, and the third driving joint 13 are designed as degrees of freedom in a plane, so that driving power can be effectively reduced, the moving speed of the robot can be greatly increased under the same driving power, and the specific length and material of the first connecting rod 18 and the second connecting rod 19 are not particularly limited in this embodiment.
Further, in the present embodiment, the length of the second link 19 is greater than the length of the first link 18. Since the fourth drive joint 14 has a translational degree of freedom in the vertical direction, in order that the first link 18 does not interfere with the degree of freedom of the fourth drive joint 14, the present embodiment sets the length of the second link 19 to be greater than the length of the first link 18. In this embodiment, the output end of the fourth driving joint 14 is a lead screw.
Further, in order to facilitate the movement of the linear slide rail 21 in this embodiment, the table tennis robot further includes a support bracket 22 for supporting the linear slide rail 21, where the support bracket 22 includes a first portal frame and a second portal frame that are symmetrical, a first end of the linear slide rail 21 is fixed on the first frame, a second end of the linear slide rail 21 is fixed on the second frame, and widths of the first portal frame and the second portal frame are greater than a width of the table tennis table. The linear guideway 21 of the present embodiment is supported by a bracket, and the table tennis robot of the present embodiment can be moved to a position to be used by moving the support bracket 22. In other embodiments, the linear slide rail 21 may be hung above one side of the table tennis table, and the first driving joint 11 is a linear slide table in this embodiment.
Further, this embodiment still includes the vision support, be provided with camera 23 on the vision support, wherein when table tennis robot uses, the vision support with support 22 is located the homonymy of table tennis table, in this embodiment, the vision support sets up on first door type frame or the second door type frame, be provided with two on the vision support camera 23. When the table tennis robot works, after the camera 23 collects a table tennis motion image, a ball drop point is predicted through a prediction algorithm, a ball hitting point is calculated, and a ball is hit.
Referring to fig. 1, the present embodiment describes a process of a ball hitting motion of the table tennis robot by taking a ball hitting point as an example shown in the figure:
the table tennis robot collects images of table tennis after the table tennis leaves a bat through the camera 23, identifies a table tennis track in the images through an image identification algorithm, predicts a table tennis foot-falling point through a track planning algorithm, and calculates a ball-hitting point, controls each driving joint to move, controls the table tennis bat to reach the position in an XY plane through the first driving joint 11, the second driving joint 12, the third driving joint 13, the first connecting rod 18 and the second connecting rod 19, controls the table tennis bat to reach a required position in a Z direction through the fourth driving joint 14, and adjusts the posture of the table tennis bat through the fifth driving joint 15 and the sixth driving joint 16 to enable the table tennis bat to reach the ball-hitting position and posture, and provides the speed required for ball hitting through the first driving joint 11 and the second driving joint 12 to hit the ball.
The table tennis robot comprises a first driving joint, a second driving joint, a third driving joint, a fourth driving joint, a fifth driving joint, a sixth driving joint and a table tennis bat, wherein the first driving joint, the second driving joint, the third driving joint, the fourth driving joint, the fifth driving joint, the sixth driving joint and the table tennis bat are sequentially connected, a first connecting rod is arranged between the second driving joint and the third driving joint, a second connecting rod is arranged between the third driving joint and the fourth driving joint, the speed in the Y direction is simultaneously provided by the speeds in the Y direction of the first driving joint and the second driving joint when the table tennis bat strikes a ball, higher ball striking speed can be realized, and the position of the table tennis bat in an XY plane is jointly controlled by the first driving joint, the second driving joint, the third driving joint, the first connecting rod and the second connecting rod, the motion range of the table tennis bat in an XY plane is greatly improved, the fourth driving joint controls the position of the table tennis bat in the Z direction, the table tennis robot can realize motion in a larger range in an XYZ three-dimensional space by combining the control of the first driving joint, the second driving joint, the third driving joint, the first connecting rod and the second connecting rod, and the posture of the table tennis bat is adjusted by the fifth driving joint and the sixth driving joint together, so that the table tennis can reach the posture required for hitting.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A table tennis robot, its characterized in that:
the table tennis robot comprises a first driving joint, a second driving joint, a third driving joint, a fourth driving joint, a fifth driving joint, a sixth driving joint and an end effector, wherein the first driving joint, the second driving joint, the third driving joint, the fourth driving joint, the fifth driving joint, the sixth driving joint and a table tennis bat are sequentially connected, a first connecting rod is arranged between the second driving joint and the third driving joint, a second connecting rod is arranged between the third driving joint and the fourth driving joint, the first driving joint has a translation degree of freedom in the horizontal direction, the second driving joint, the third driving joint, the fifth driving joint and the sixth driving joint have a rotation degree of freedom, and the fourth driving joint has a translation degree of freedom in the vertical direction;
the first driving joint comprises a linear slide rail, the first driving joint has a translational degree of freedom on the linear slide rail, and the output end of the first driving joint is connected with the linear slide rail in a sliding manner;
the linear slide rail is parallel to the middle line of the table tennis table along the length direction;
the first connecting rod and the second connecting rod are both horizontally arranged.
2. The table tennis robot of claim 1, wherein:
the stiff end of second drive joint with the output of first drive joint is connected, the first end of first connecting rod with the output of second drive joint is connected, the second end of first connecting rod with the stiff end of third drive joint is connected, the first end of second connecting rod with the output of third drive joint is connected, the second end of second connecting rod with the stiff end of fourth drive joint is connected, the stiff end of fifth drive joint with the output of fourth drive joint is connected, the stiff end of sixth drive joint with the output of fifth drive joint is connected, the table tennis bat with the output of sixth drive joint is connected.
3. The table tennis robot of claim 1, wherein:
the length of the second connecting rod is greater than that of the first connecting rod.
4. The table tennis robot of claim 2, wherein:
and the output end of the fourth driving joint is a lead screw.
5. The table tennis robot of claim 2, wherein:
the table tennis table is characterized by further comprising a support for supporting the linear sliding rail, wherein the support comprises a first door-shaped frame and a second door-shaped frame, the first end of the linear sliding rail is fixed on the first door-shaped frame, the second end of the linear sliding rail is fixed on the second door-shaped frame, and the widths of the first door-shaped frame and the second door-shaped frame are larger than the width of the table tennis table.
6. The table tennis robot of claim 2, wherein:
the linear slide rail is hung above one side of the table tennis table.
7. The table tennis robot of claim 5, wherein:
still include the camera, wherein, when table tennis robot used, the camera with the support is located the homonymy of table tennis table.
8. The table tennis robot of claim 7, wherein:
the camera sets up on the vision support, the vision support sets up first door type frame or on the second door type frame, the quantity of camera is two.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811172808.2A CN108939490B (en) | 2018-10-09 | 2018-10-09 | Table tennis robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811172808.2A CN108939490B (en) | 2018-10-09 | 2018-10-09 | Table tennis robot |
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| CN108939490A CN108939490A (en) | 2018-12-07 |
| CN108939490B true CN108939490B (en) | 2021-04-23 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112657159A (en) * | 2020-12-10 | 2021-04-16 | 上海理工大学 | Percussion ball integration table tennis robot based on two arm platforms |
| CN114712814B (en) * | 2022-02-23 | 2023-10-31 | 合肥工业大学 | Five-degree-of-freedom table tennis accompanying robot |
| CN114800559B (en) * | 2022-04-24 | 2024-03-12 | 浙江深酷机器人有限公司 | Intelligent table tennis robot |
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| CN1611282A (en) * | 2003-10-29 | 2005-05-04 | 中国科学院自动化研究所 | Table hockey robot system |
| CN102200760A (en) * | 2011-05-25 | 2011-09-28 | 中国科学院自动化研究所 | Method for acquiring ball-hitting gesture and ball-hitting speed of ping-pong robot racket |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2002315963A (en) * | 2001-04-23 | 2002-10-29 | Sanyo Electric Co Ltd | Game interface device |
| KR100991950B1 (en) * | 2008-05-21 | 2010-11-04 | 김진영 | Badminton Training Devices |
| CN206214699U (en) * | 2016-11-02 | 2017-06-06 | 杨向峰 | One kind is played table tennis robot |
| CN107260489A (en) * | 2017-07-07 | 2017-10-20 | 广州康医疗设备实业有限公司 | A kind of upper limbs training mechanical arm, upper limbs image training robot and training method |
| CN207871441U (en) * | 2017-10-30 | 2018-09-18 | 广东工业大学 | A kind of shuttlecock robot |
| CN108527314B (en) * | 2018-05-25 | 2024-05-14 | 上海体育学院 | Mechanical arm and table tennis ball hitting robot |
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- 2018-10-09 CN CN201811172808.2A patent/CN108939490B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1611282A (en) * | 2003-10-29 | 2005-05-04 | 中国科学院自动化研究所 | Table hockey robot system |
| CN102200760A (en) * | 2011-05-25 | 2011-09-28 | 中国科学院自动化研究所 | Method for acquiring ball-hitting gesture and ball-hitting speed of ping-pong robot racket |
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Effective date of registration: 20210910 Address after: 257 jinzang Road, Pudong New Area, Shanghai, 201206 Patentee after: Shanghai Chuangyi Technology Co.,Ltd. Address before: Room 101 and 201, West building 11, 351 jinzang Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 200120 Patentee before: SIASUN Co.,Ltd. |
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Denomination of invention: Table Tennis Robot Granted publication date: 20210423 Pledgee: Industrial Bank Co.,Ltd. Shanghai Branch Pledgor: Shanghai Chuangyi Technology Co.,Ltd. Registration number: Y2024310000016 |
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