CN109015682A - Mechanical arm and ping-pong robot with it - Google Patents
Mechanical arm and ping-pong robot with it Download PDFInfo
- Publication number
- CN109015682A CN109015682A CN201810966150.6A CN201810966150A CN109015682A CN 109015682 A CN109015682 A CN 109015682A CN 201810966150 A CN201810966150 A CN 201810966150A CN 109015682 A CN109015682 A CN 109015682A
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- joint
- ping
- driving joint
- driving
- mechanical arm
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- 230000033001 locomotion Effects 0.000 claims abstract description 60
- 239000012636 effector Substances 0.000 claims abstract description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000003447 ipsilateral effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 10
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B65/00—Implements for throwing ; Mechanical projectors, e.g. using spring force
- A63B65/12—Ball-throwing apparatus with or without catchers ; Mechanical projectors, e.g. using spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
Abstract
The invention discloses a kind of mechanical arm and with its ping-pong robot, it is related to robotic technology field, the mechanical arm includes the first driving joint, second driving joint, third drives joint, 4 wheel driven movable joint, 5th driving joint and end effector, first driving joint is connect with the second driving joint, second driving joint is connect with third driving joint, third driving joint is connect with 4 wheel driven movable joint, 4 wheel driven movable joint is connect with the 5th driving joint, end effector is installed on the 5th diarthrodial output shaft of drive, first driving joint, third drives joint, 4 wheel driven movable joint, 5th driving joint all has rotary freedom, second driving joint has flexible freedom degree, the ping-pong robot includes above-mentioned mechanical arm and linear motion mould group, 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 mechanical arm and the ping-pong robot with it.
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. 4) 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 mechanical arm and with its ping-pong robot, to solve in the prior art
Ping-pong robot movement velocity is slow, technical problem that 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 mechanical arm, the mechanical arm include the first driving joint, the second driving joint,
Third drives joint, 4 wheel driven movable joint, the 5th driving joint and end effector, the first driving joint and described the
Two driving joint connections, the second driving joint are connect with third driving joint, the third driving joint and institute
The connection of 4 wheel driven movable joint is stated, the 4 wheel driven movable joint is connect with the 5th driving joint, the end effector installation
It is driven on diarthrodial output shaft in the described 5th, first driving joint, third drive joint, 4 wheel driven movable joint, the 5th
Driving joint all has rotary freedom, and second driving joint has flexible freedom degree.
Mechanical arm as described above, described first, which drives diarthrodial fixing end, is mounted on the first mounting plate, and described second drives
Diarthrodial fixing end is mounted on the second mounting plate, and second mounting plate and described first drives diarthrodial output end company
It connects, the third is driven diarthrodial fixing end and is mounted on third mounting plate, and the third mounting plate and second driving are closed
The output end of section connects, and the diarthrodial fixing end of 4 wheel driven is mounted on the 4th mounting plate, the 4th mounting plate and institute
It states third and drives the connection of diarthrodial output end, the described 5th, which drives diarthrodial fixing end, is mounted on the 5th mounting plate, and described the
Five mounting plates are connect with the diarthrodial output end of 4 wheel driven, and the end effector and the described 5th drives diarthrodial output
End connection.
Mechanical arm as described above, first driving joint, third driving joint, 4 wheel driven movable joint, the 5th driving are closed
Section includes motor, speed reducer, encoder, and second driving joint is electric cylinders.
Another aspect of the present invention provides a kind of ping-pong robot, the ping-pong robot include linear motion mould group and
Mechanical arm；The linear motion mould group includes linear drives structure and line slide rail, the mechanical arm and the linear drives knot
Structure connection, the linear drives structure is for driving the mechanical arm to move along the line slide rail, wherein the ping-pong ball
When in use, the line slide rail is parallel with the middle line of ping-pong table along its length by device people；
The mechanical arm is mechanical arm described above, and wherein actuator is table tennis bat.
The mechanical arm is mechanical arm described above, and the linear motion mould group is straight line slide unit.
Ping-pong robot as described above further includes the supporting support for being used to support the straight line slide unit, the support branch
Frame includes the first gate frame and the second gate frame, and the first end of the sliding rail is fixed on first frame, the cunning
The second end of rail is fixed on second frame, and the width of first gate frame and the second gate frame is all larger than table tennis
The width of ball table.
Ping-pong robot as described above further includes vision bracket, and camera, the view are provided on the vision bracket
Feel that bracket and the supporting support are located at the ipsilateral of ping-pong table.
Ping-pong robot as described above, the straight line slide unit are lifted on the top of ping-pong table side.
Ping-pong robot as described above further includes vision bracket, is provided with camera on the vision bracket, wherein
In the ping-pong robot in use, the camera and the supporting support are located at the ipsilateral of ping-pong table.
Ping-pong robot as described above, vision bracket setting is in first gate frame or second described
On type frame, there are two the cameras for setting on the vision bracket.
Mechanical arm of the invention includes the first driving joint, the second driving joint, third driving joint, the 4th driving pass
Section, the 5th driving joint, first driving joint, third driving joint, 4 wheel driven movable joint, the 5th driving joint all have
Rotary freedom, second driving joint have upper and lower translation freedom degree, and the first driving joint is rotate driving in the present invention
Joint, the second driving joint are linear motion driving joint, and the first driving joint and second drive diarthrodial coupled motions in reality
While existing larger motion range, it is also greatly improved the movement velocity of point-to-point.
Ping-pong robot of the invention includes linear motion mould group and mechanical arm, and ping-pong robot motion range is in Y
It improves a lot on direction, mechanical arm includes the first driving joint, the second driving joint, third driving joint, the 4th driving pass
Section, the 5th driving joint, the first driving joint are rotate driving joint, and the second driving joint is linear motion driving joint, are led to
The first driving joint and second is crossed to drive diarthrodial cooperation and can drive third driving joint in the flat in-plane moving of XZ faster, from
And the motion range of the movement velocity and table tennis bat of ping-pong robot in XYZ space is promoted, the striking speed of table tennis
The linear velocity of the Y-direction generated by linear motion mould group movement velocity in the Y direction and 4 wheel driven movable joint forms, can be larger
Ground promotes striking speed.
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 mechanical arm provided in an embodiment of the present invention；
Fig. 2 is one using state structure diagram of mechanical arm provided in an embodiment of the present invention；
Fig. 3 is the driving joint schematic diagram of mechanical arm provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of ping-pong robot use state provided in an embodiment of the present invention.
Description of symbols:
1- mechanical arm；2- linear motion mould group；
3- ping-pong table；11- first drives joint；
12- second drives joint；13- third drives joint；
14- 4 wheel driven movable joint；15- the 5th drives joint；
16- end effector；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 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. 4), 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.
The part term in the application is explained below, so as to those skilled in the art understand that.
Electric cylinders are that the rotary motion of servo motor is turned to the modular product of servo motor and lead screw integrated design
It changes linear motion into, while servo motor optimum benefits-precise rotation being controlled, accurate revolution control, accurate torque control turns
Become-precise speed control, Accurate Position Control, accurate thrust control；Realize the completely new revolution of high-precision linear motion series
Property product.
Straight line slide unit, straight line slide unit are a kind of mechanical structure of energy offer linear motion.
It is carried out combined with specific embodiments below to mechanical arm provided by the invention and with its ping-pong robot detailed
It introduces.
Embodiment one:
Fig. 1 is the structural schematic diagram of mechanical arm provided in an embodiment of the present invention, and Fig. 2 is machinery provided in an embodiment of the present invention
One using state structure diagram of arm, Fig. 3 are the driving joint schematic diagram of mechanical arm provided in an embodiment of the present invention, please refer to figure
Shown in 1-3, the present embodiment provides a kind of mechanical arm, the mechanical arm 1 of the present embodiment includes that the first driving joint 11, second drives
Joint 12, third driving joint 13, the driving joint 15 of 4 wheel driven movable joint the 14, the 5th and end effector 16, described first
Driving joint 11 is connect with second driving joint 12, and the second driving joint 12 and third driving joint 13 connect
It connects, third driving joint 13 is connect with the 4 wheel driven movable joint 14, and the 4 wheel driven movable joint 14 drives with the described 5th
Movable joint 15 connects, and the end effector 16 is installed on the output shaft in the 5th driving joint 15, first driving
Joint 11, third driving joint 13,4 wheel driven movable joint the 14, the 5th drive joint 15 to all have rotary freedom, and described second
Drive joint 12 that there is flexible freedom degree.
Fig. 4 is the structural schematic diagram of ping-pong robot use state provided in an embodiment of the present invention, please refers to Fig. 4 institute
Show, in the present embodiment, the first driving joint 11 and the second driving joint 12 exist for adjusting third driving joint 13
Position in XZ plane, third driving joint 13 are flat in XZ for adjusting the 4 wheel driven movable joint 14 and the 5th driving joint 15
Posture in face, Fig. 4 are the structural schematic diagram of ping-pong robot use state provided in an embodiment of the present invention, wherein X, Y, Z
Direction please refer to as shown in the figure.
The first driving joint 11 of the present embodiment is rotate driving joint, and the second driving joint 12 is that linear motion driving is closed
Section, present invention selection makes the movement mechanism size of mechanical arm small using the motion mode of polar coordinate system, light-weight, and uses
Polar motion mode, the first driving joint 11 and the second driving joint 12 cooperation can quickly drive 4 wheel driven movable joint
14 and the 5th drive movement of the joint 15 in XZ plane.
In the present embodiment, the fixing end in first driving joint 11 is mounted on the first mounting plate, second driving
The fixing end in joint 12 is mounted on the second mounting plate, and the output end in second mounting plate and first driving joint 11 connects
It connects, the fixing end in third driving joint 13 is mounted on third mounting plate, the third mounting plate and second driving
The output end in joint 12 connects, and the fixing end of the 4 wheel driven movable joint 14 is mounted on the 4th mounting plate, the 4th installation
Plate is connect with the output end in third driving joint 13, and the fixing end in the 5th driving joint 15 is mounted on the 5th mounting plate
On, the 5th mounting plate is connect with the output end of the 4 wheel driven movable joint 14, the end effector 16 and the described 5th
Drive the output end connection in joint 15.
In the present embodiment, first driving joint 11, third driving joint 13,4 wheel driven movable joint the 14, the 5th are driven
Joint 15 includes motor, speed reducer, encoder, and second driving joint 12 is electric cylinders.
Mechanical arm of the invention includes the first driving joint, the second driving joint, third driving joint, the 4th driving pass
Section, the 5th driving joint, first driving joint, third driving joint, 4 wheel driven movable joint, the 5th driving joint all have
Rotary freedom, second driving joint have flexible freedom degree, and the first driving joint is rotate driving joint in the present invention,
Second driving joint is linear motion driving joint, and it is larger in realization that the first driving joint and second drive diarthrodial coupled motions
The movement velocity of point-to-point is greatly improved while range motion.
Embodiment two:
Fig. 4 is the structural schematic diagram of ping-pong robot use state provided in an embodiment of the present invention, please refers to Fig. 1,4 institutes
Show, the present embodiment provides a kind of ping-pong robot, the ping-pong robot includes linear motion mould group 2 and mechanical arm 1；Institute
Ping-pong robot is stated in use, straight line slide unit is located above ping-pong table, the linear motion mould group 2 includes linear drives knot
Structure (invisible in figure) and line slide rail 21, the mechanical arm 1 are fixed in the linear drives structure 2, the line slide rail
21 is parallel with the middle line of ping-pong table 3 along its length；The mechanical arm 1 is mechanical arm described in embodiment, and wherein end is held
Row device 16 is table tennis bat.
In the present embodiment, the linear motion mould group 2 can be lifted on the top of ping-pong table, or pass through supporting support
It is fixed on the top of ping-pong table.
In the present embodiment, the movement that the linear motion mould group 2 is used to that the mechanical arm to be made to realize Y-direction, the present embodiment
The concrete form of the linear motion mould group 2 is not particularly limited, as long as the structure that mechanical arm can be made to realize that Y-direction moves
All within the scope of the present invention.
Optionally, linear motion mould group 2 described in the present embodiment is straight line slide unit.
The mechanical arm of the present embodiment includes that the first driving joint 11, second drives joint 12, third to drive joint the 13, the 4th
Joint the 14, the 5th is driven to drive joint 15 and end effector 16, the first driving joint 11 and second driving are closed
12 connection of section, the second driving joint 12 and third driving joint 13 are connect, the third drive joint 13 with it is described
4 wheel driven movable joint 14 connects, and the 4 wheel driven movable joint 14 is connect with the 5th driving joint 15, the end effector
16 are installed on the output shaft in the 5th driving joint 15, and first driving joint 11, third drive joint 13,4 wheel driven
Movable joint the 14, the 5th drives joint 15 to all have rotary freedom, and second driving joint 12 has flexible freedom degree.
Further, in this embodiment the fixing end in first driving joint 11 is mounted on the first mounting plate, it is described
The fixing end in the second driving joint 12 is mounted on the second mounting plate, and second mounting plate and described first drives joint 11
The fixing end of output end connection, third driving joint 13 is mounted on third mounting plate, the third mounting plate with it is described
The output end connection in the second driving joint 12, the fixing end of the 4 wheel driven movable joint 14 is mounted on the 4th mounting plate, described
The output end in the 4th mounting plate and the third driving joint 13 connect, and the described 5th drives the fixing end in joint 15 to be mounted on the
On five mounting plates, the 5th mounting plate is connect with the output end of the 4 wheel driven movable joint 14, the end effector 16 with
The output end connection in the 5th driving joint 15.In the present embodiment, it is described first driving joint 11, third driving joint 13,
It includes motor, speed reducer, encoder that 4 wheel driven movable joint the 14, the 5th, which drives joint 15, and second driving joint 12 is electricity
Cylinder.
Further, in this embodiment the movement for the mould group 2 that moves along a straight line for convenience, the ping-pong robot further include
Be used to support it is described linear motion mould group 2 supporting support 22, the supporting support 22 include symmetrical first gate frame and
Second gate frame, the first end of the line slide rail 21 are fixed on first frame, and the second of the line slide rail 22
End is fixed on second frame, and the width of first gate frame and the second gate frame is greater than the width of ping-pong table 3
Degree.The straight line slide unit 2 of the present embodiment is supported by bracket, can be by moving supporting support 22 for the ping-pong ball of the present embodiment
Device people, which is moved to, needs position to be used.Straight line slide unit 2 can be lifted on the upper of ping-pong table side in other embodiments
Side.
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, is then hit by linear motion mould group 2 and the cooperation of mechanical arm 1
Ball.
It please refers to shown in Fig. 4, 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, straight line slide unit 2 drive mechanical arm 1 to move in the Y direction, Y-direction position needed for mechanical arm 1 is moved to batting, machine
Tool arm 1 drives 4 wheel driven movable joint 14 and the 5th by the rotation and the flexible of the second driving joint 12 in the first driving joint 11
Joint 15 rapidly moves to required position in XZ plane, and third drives joint 13 to adjust 4 wheel driven movable joint 14 and the 5th driving
Posture needed for joint 15 reaches batting, 4 wheel driven movable joint 14 and the 5th driving joint 15 adjust table tennis bat, make table tennis
Bat reaches batting desired position and posture, completes shot, speed of the striking speed of racket by straight line slide unit 2 in the Y direction
It spends and is made of simultaneously the Y-direction linear velocity that the rotation of the 4th motor generates, the space of straight line slide unit 2 in the Y direction is more
Sufficiently, the striking speed in Y-direction can be increased to the larger value.
Ping-pong robot of the invention includes straight line slide unit and mechanical arm, and wherein mechanical arm can be transported along straight line slide unit
Dynamic, ping-pong robot motion range improves a lot in the Y direction, and mechanical arm includes the first driving joint, the second driving pass
Section, third driving joint, 4 wheel driven movable joint, the 5th driving joint, the first driving joint are rotate driving joint, the second driving
Joint is linear motion driving joint, and third can be driven faster by driving diarthrodial cooperation by the first driving joint and second
Drive joint in the flat in-plane moving of XZ, so that the movement velocity and table tennis bat that promote ping-pong robot are in XYZ space
Motion range, the Y-direction that the striking speed of table tennis is generated by straight line slide unit movement velocity in the Y direction and 4 wheel driven movable joint
Linear velocity composition, can significantly promote striking speed.
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 (9)
1. a kind of mechanical arm, it is characterised in that:
The mechanical arm includes the first driving joint, the second driving joint, third driving joint, 4 wheel driven movable joint, the 5th drive
Movable joint and end effector, the first driving joint are connect with second driving joint, second driving joint
It is connect with third driving joint, the third driving joint is connect with the 4 wheel driven movable joint, the 4th driving
Joint is connect with the 5th driving joint, and the end effector is installed on the described 5th and drives on diarthrodial output shaft, institute
State the first driving joint, third driving joint, 4 wheel driven movable joint, the 5th driving joint all have rotary freedom, described the
Two driving joints have flexible freedom degree.
2. mechanical arm according to claim 1, it is characterised in that:
Described first, which drives diarthrodial fixing end, is mounted on the first mounting plate, and described second, which drives diarthrodial fixing end, is mounted on
On second mounting plate, second mounting plate drives diarthrodial output end with described first and connect, and the third is driven diarthrodial
Fixing end is mounted on third mounting plate, and the third mounting plate drives diarthrodial output end with described second and connect, and described the
The diarthrodial fixing end of 4 wheel driven is mounted on the 4th mounting plate, and the 4th mounting plate and the third drive diarthrodial output end
Connection, the described 5th, which drives diarthrodial fixing end, is mounted on the 5th mounting plate, the 5th mounting plate and the 4th driving
The output end in joint connects, and the end effector drives diarthrodial output end with the described 5th and connect.
3. mechanical arm according to claim 1, it is characterised in that:
It is described first driving joint, third driving joint, 4 wheel driven movable joint, the 5th driving joint include motor, speed reducer,
Encoder, second driving joint is electric cylinders.
4. a kind of ping-pong robot, it is characterised in that:
The ping-pong robot includes linear motion mould group and mechanical arm；
The linear motion mould group includes linear drives structure and line slide rail, and the mechanical arm and the linear drives structure connect
It connects, the linear drives structure is for driving the mechanical arm to move along the line slide rail, wherein the ping-pong robot
When in use, the line slide rail is parallel with the middle line of ping-pong table along its length；
The mechanical arm is the described in any item mechanical arms of claim 1-3, and wherein end effector is table tennis bat.
5. ping-pong robot according to claim 4, it is characterised in that:
The linear motion mould group is straight line slide unit.
6. ping-pong robot according to claim 4 or 5, it is characterised in that:
It further include the bracket for being used to support the linear motion mould group, the bracket includes the first gate frame and the second gate frame
Frame, the first end of the line slide rail are fixed on first gate frame, and the second end of the line slide rail is fixed on institute
It states on the second gate frame, the width of first gate frame and the second gate frame is all larger than the width of ping-pong table.
7. ping-pong robot according to claim 4, it is characterised in that:
The linear motion mould group is lifted on the top of ping-pong table side.
8. ping-pong robot according to claim 6, it is characterised in that:
Further include vision bracket, be provided with camera on the vision bracket, wherein in the ping-pong robot in use,
The camera and the supporting support are located at the ipsilateral of ping-pong table.
9. ping-pong robot according to claim 8, it is characterised in that:
The vision bracket is arranged on first gate frame or second gate frame, sets on the vision bracket
Camera there are two setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810966150.6A CN109015682B (en) | 2018-08-23 | 2018-08-23 | Table tennis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810966150.6A CN109015682B (en) | 2018-08-23 | 2018-08-23 | Table tennis robot |
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| CN109015682A true CN109015682A (en) | 2018-12-18 |
| CN109015682B CN109015682B (en) | 2023-03-10 |
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| CN201810966150.6A Active CN109015682B (en) | 2018-08-23 | 2018-08-23 | Table tennis robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109847301A (en) * | 2019-01-16 | 2019-06-07 | 中科新松有限公司 | A kind of ping-pong robot |
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| US5335905A (en) * | 1992-10-09 | 1994-08-09 | Newgarden Jr Joseph E | Robot table tennis net and server assembly |
| 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 |
| EP2529910A1 (en) * | 2011-05-30 | 2012-12-05 | Orthopedie Bontoux G.A. | Method and device for machining a mould for manufacturing an orthopaedic appliance |
| CN203185344U (en) * | 2013-04-22 | 2013-09-11 | 焦浩 | Telescopic multi-freedom-degree explosive-handling robot |
| CN106113003A (en) * | 2016-08-11 | 2016-11-16 | 无锡百禾工业机器人有限公司 | A kind of automatization legerity type mechanical arm |
| CN107283441A (en) * | 2017-08-15 | 2017-10-24 | 中科新松有限公司 | A kind of ping-pong robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109847301A (en) * | 2019-01-16 | 2019-06-07 | 中科新松有限公司 | A kind of ping-pong robot |
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|---|---|
| CN109015682B (en) | 2023-03-10 |
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Denomination of invention: Table Tennis Robot Granted publication date: 20230310 Pledgee: Industrial Bank Co.,Ltd. Shanghai Branch Pledgor: Shanghai Chuangyi Technology Co.,Ltd. Registration number: Y2024310000016 |