CN109260676A - Table tennis collects robot - Google Patents
Table tennis collects robot Download PDFInfo
- Publication number
- CN109260676A CN109260676A CN201811205011.8A CN201811205011A CN109260676A CN 109260676 A CN109260676 A CN 109260676A CN 201811205011 A CN201811205011 A CN 201811205011A CN 109260676 A CN109260676 A CN 109260676A
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- CN
- China
- Prior art keywords
- platform
- robot
- table tennis
- stepper motor
- collects
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- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
- A63B67/04—Table games physically beneficial for the human body, modelled on outdoor sports, e.g. table tennis
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of tablees tennis to collect robot, including robot body, be set to mobile mechanism that robot body lower part is fixedly installed with robot body, be set to robot body side and pedestal it is fixed collect mechanism and through robot sheet and the screw conveyer structure that collects mechanism and connect.It drives table tennis to collect robot by mobile mechanism to walk according to preset route, and the table tennis being scattered is collected by collecting mechanism, then specified location is transferred to by screw conveyer structure, completion table tennis collects robot and is collected to the table tennis being scattered.The table tennis collects robot and can automatically be collected to the table tennis being scattered to ground, saves the labour of staff, and then completes the purpose that assistance personnel are picked up table tennis.
Description
Technical field
The present invention relates to automatic control technology field, in particular to a kind of table tennis collects robot.
Background technique
Currently, table tennis, as Chinese national ball game, on table tennis, China is constantly in dominant position on competition field.This with
The train hard of Chinese player is inseparable.So it is particularly important to give the good training environment of player.
In the training process of table tennis, when service robot is trained, a large amount of table tennis can be scattered in each angle of training place
It falls, a large amount of manpowers can be consumed by collecting to it.To save manpower, the present invention, which provides one kind, to replace the mankind collect table tennis
Robot.
Summary of the invention
The present invention provides a kind of table tennis and collects robot, including robot body, be set to robot body lower part with
The mobile mechanism of robot body fixed setting is set to collecting mechanism and running through for robot body side and pedestal fixation
Robot sheet and the screw conveyer structure for collecting mechanism and connecting.
Further,
The robot body includes the first platform, the second platform and third platform set gradually from top to bottom,
First platform, the second platform and the setting triangular in shape of third platform, the edge of the third platform upper, which is provided with, to be enclosed
Gear, first platform, the second platform, third platform and enclosing are fixed by perforative fixing piece.
Further,
The mobile mechanism includes the first scroll wheel, the second scroll wheel and third scroll wheel, first scroll wheel, the
Two scroll wheels and third scroll wheel are located at three different angles of third platform and connect with third platform roll, described
First scroll wheel, the second scroll wheel and third scroll wheel are provided with the first stepper motor, the second stepping electricity corresponding thereto
Machine and third stepper motor；
Further include the sign being set on ground, and is installed on the identification device of the third platform lower, institute
It states identification device and the sign and generates instruction information for identification；
Processor is filled with first stepper motor, second stepper motor and third stepper motor and identification respectively
Connection is set, is made for receiving the instruction information and controlling the first stepper motor, second stepper motor and third stepper motor
Table tennis collects robot and identifies traveling as indicated.
Further,
Two for collecting mechanism and including one pre-determined distance of interval setting fixed with the second platform and third platform respectively
A fixed plate；
Described two fixed plates are connect with two side rolls of a rotation rod respectively, at any one in two fixed plates
It is provided with the rotary electric machine for driving the rotation rod to be rotated；
The two sides of the rotation rod are respectively arranged with identical mounting flange, are fixedly connected and set between two mounting flanges
It is equipped with rubber band.
Further,
The rubber band includes 4, is uniformly arranged on the mounting flange.
Further,
First stepper motor, second stepper motor and third stepper motor are respectively arranged on the second platform.
Further,
Communication passage is provided at the third platform, a side opening of the communication passage and the mechanism that collects connect
It connects；
Another side opening of the communication passage and the screw conveyer structure connection；
The two sides of the communication passage are provided with baffle.
Further,
The screw conveyer structure includes screw blade, and the table tennis spiral for that will be located at screw conveyer structure lower part passes
It is handed to its top.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the partial structure diagram that table tennis collects robot；
Fig. 2 is the overall structure diagram that table tennis collects robot；
Fig. 3 is the track route schematic diagram that table tennis collects robot.
1, robot body；11, the first platform；12, the second platform；13, third platform；14, fixing piece；15, enclosing；
21, mounting flange；22, fixed plate；23, rod is rotated；24, rubber band；25, rotary electric machine；31, communication passage；32, baffle；41,
One scroll wheel；411, the first stepper motor；42, the second scroll wheel；421, second stepper motor；43, third scroll wheel；431,
Three stepper motors；51, screw blade；61, sign.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
The embodiment of the invention provides a kind of tablees tennis to collect robot, its structural schematic diagram as shown in Figure 1, including machine
Human body 1, is set to the mobile mechanism of 1 lower part of robot body and the fixed setting of robot body 1, is set to robot body
1 side and pedestal it is fixed collect mechanism and through robot sheet and the screw conveyer structure that collects mechanism and connect.
The principle of above-mentioned technical proposal is as follows:
It drives table tennis to collect robot by mobile mechanism to walk according to preset route, and by collecting mechanism
The table tennis being scattered is collected, specified location is then transferred to by screw conveyer structure, table tennis is completed and collects machine
Device people is collected the table tennis being scattered.
The effect of above-mentioned technical proposal is as follows:
The table tennis collects robot and can automatically be collected to the table tennis being scattered to ground, saves staff
Labour, and then complete assistance personnel and be picked up the purpose of table tennis.
In one embodiment, robot body 1 includes the first platform 11, the second platform 12 set gradually from top to bottom
And third platform 13, first platform 11, the second platform 12 and the setting triangular in shape of third platform 13, the third are flat
The edge on 13 top of platform is provided with enclosing 15, and first platform 11, the second platform 12, third platform 13 and enclosing 15 pass through
Perforative fixing piece 14 is fixed.
The principle and effect of above-mentioned technical proposal are as follows:
By the first platform 11, the second platform 12 and third platform 13 each device is all able to and robot
Ontology 1 is fixed, and fixing piece 14 can have the first platform 11, the second platform 12 and third platform 13 and enclosing
The fixation of effect, table tennis, which can pass sequentially through, collects mechanism and screw conveyer structure to the top of third platform 13.
In one embodiment, mobile mechanism includes the first scroll wheel 41, the second scroll wheel 42 and third scroll wheel 43,
First scroll wheel 41, the second scroll wheel 42 and third scroll wheel 43 are located at three different angles of third platform 13
And with third platform 13 roll connect, first scroll wheel 41, the second scroll wheel 42 and third scroll wheel 43 be provided with
Its corresponding first stepper motor 411, second stepper motor 421 and third stepper motor 431；It further include being set to ground
On sign 61, and be installed on the identification device of 13 lower part of third platform, identification device institute for identification
It states sign 61 and generates instruction information；Processor, respectively with first stepper motor 411, second stepper motor 421 with
And third stepper motor 431 and identification device connection, for receive the instruction information and control the first stepper motor 411,
Second stepper motor 421 and third stepper motor 431 make table tennis collect robot to identify 61 travelings as indicated.The first step
It is respectively arranged on the second platform 12 into motor 411, second stepper motor 421 and third stepper motor 431.
The principle and effect of above-mentioned technical proposal are as follows:
It can be controlled by being set to the first scroll wheel 41, the second scroll wheel 42 and third scroll wheel 43 at different location
The movement that the robot body 1 carries out different direction respectively is made, and then completes the purpose that control robot body 1 is moved,
And the robot body 1 can be moved according to the sign 61 that personnel pre-set, which can be with
It is black glue item, identification device can be photoelectric sensor, identify that the placement location of black glue item obtains by photoelectric sensor
Relevant instruction information simultaneously carries out relevant movement.
In one embodiment, collecting mechanism includes that interval one fixed with the second platform 12 and third platform 13 respectively is pre-
If two fixed plates 22 apart from setting；Described two fixed plates 22 are connect with two side rolls of a rotation rod 23 respectively, two
The rotary electric machine 25 for driving the rotation rod 23 to be rotated is provided at any one in a fixed plate 22；Described turn
The two sides of dynamic rod 23 are respectively arranged with identical mounting flange 21, are fixedly connected between two mounting flanges 21 and are provided with rubber band
24.It is the direction of advance that robot body 1 is advanced that wherein this, which has the side for collecting mechanism,.Wherein rubber band 24 includes 4, uniformly
It is set on the mounting flange 21.
The principle and effect of above-mentioned technical proposal are as follows:
Rotation rod 23, mounting flange 21 and rubber band 24 is driven to be rotated by rotary electric machine 25, rubber band 24 is rotating
The table tennis that be located at ground can be dialled in the process to collecting mechanism, and then complete the step of receiving ball.
In one embodiment, communication passage 31, a side opening of communication passage 31 and institute are provided at third platform 13
It states and collects mechanism connection, another side opening of communication passage 31 and the screw conveyer structure connection.When the table tennis for being located at ground
Ball is dialled in after collecting in mechanism by the way that at communication passage 31 to screw conveyer structure, the two sides of communication passage 31 are provided with baffle
32。
Screw conveyer structure includes screw blade 51, and the table tennis spiral for that will be located at screw conveyer structure lower part is transmitted
To its top.Table tennis is transferred to the top of the first fixed plate 22 by screw blade 51, due to the four of the first fixed plate 22
Week is provided with fence, so fence can carry out enclosing to the table tennis on 22 top of the first fixed plate.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (8)
1. a kind of table tennis collects robot, characterized in that including robot body (1), be set to robot body (1) lower part
With the mobile mechanism of robot body (1) fixed setting, be set to robot body (1) side and pedestal it is fixed collect mechanism
And through robot sheet and the screw conveyer structure that collects mechanism and connect.
2. table tennis according to claim 1 collects robot, characterized in that
The robot body (1) includes the first platform (11) set gradually from top to bottom, the second platform (12) and
Three platforms (13), first platform (11), the second platform (12) and third platform (13) setting triangular in shape, the third
The edge on platform (13) top is provided with enclosing, first platform (11), the second platform (12), third platform (13) and encloses
Gear is fixed by perforative fixing piece (14).
3. table tennis according to claim 2 collects robot, characterized in that
The mobile mechanism includes the first scroll wheel (41), the second scroll wheel (42) and third scroll wheel (43), and described first
Scroll wheel (41), the second scroll wheel (42) and third scroll wheel (43) are located at three different angles of third platform (13)
And roll and connect with third platform (13), first scroll wheel (41), the second scroll wheel (42) and third scroll wheel (43)
It is provided with the first stepper motor (411), second stepper motor (421) and third stepper motor (431) corresponding thereto；
Further include the sign (61) being set on ground, and is installed on the identification dress of third platform (13) lower part
It sets, the identification device sign (61) and generates instruction information for identification；
Processor, respectively with first stepper motor (411), second stepper motor (421) and third stepper motor (431)
And identification device connection, for receiving the instruction information and controlling the first stepper motor (411), second stepper motor
(421) and third stepper motor (431) make table tennis collect robot identify as indicated (61) traveling.
4. table tennis according to claim 2 collects robot, characterized in that
The mechanism that collects includes that one pre-determined distance of interval fixed with the second platform (12) and third platform (13) respectively is arranged
Two fixed plates (22)；
Described two fixed plates (22) connect with two side rolls of rotation rod (23) respectively, appointing in two fixed plates (22)
It anticipates the rotary electric machine (25) being provided at one for driving rotation rod (23) to be rotated；
The two sides of rotation rod (23) are respectively arranged with identical mounting flange (21), solid between two mounting flanges (21)
Surely rubber band (24) are connected with.
5. table tennis according to claim 4 collects robot, characterized in that
The rubber band (24) includes 4, is uniformly arranged on the mounting flange (21).
6. table tennis according to claim 2 collects robot, characterized in that
First stepper motor (411), second stepper motor (421) and third stepper motor (431) are respectively arranged at
On two platforms (12).
7. table tennis according to claim 2 collects robot, characterized in that
It is provided with communication passage (31) at the third platform (13), a side opening of the communication passage (31) is collected with described
Mechanism connection；
Another side opening of the communication passage (31) and the screw conveyer structure connection；
The two sides of the communication passage (31) are provided with baffle (32).
8. table tennis according to claim 7 collects robot, characterized in that
The screw conveyer structure includes screw blade (51), and the table tennis spiral for that will be located at screw conveyer structure lower part passes
It is handed to its top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811205011.8A CN109260676A (en) | 2018-10-16 | 2018-10-16 | Table tennis collects robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811205011.8A CN109260676A (en) | 2018-10-16 | 2018-10-16 | Table tennis collects robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109260676A true CN109260676A (en) | 2019-01-25 |
Family
ID=65196764
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811205011.8A Pending CN109260676A (en) | 2018-10-16 | 2018-10-16 | Table tennis collects robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109260676A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771912A (en) * | 2019-02-17 | 2019-05-21 | 王风文 | A kind of pingpong collection robot |
| CN113750480A (en) * | 2021-10-13 | 2021-12-07 | 浙江科技学院 | Automatic tennis ball picking device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE9114914U1 (en) * | 1991-11-30 | 1992-03-19 | Unterberg, Horst, 7760 Radolfzell, De | |
| CN104784900A (en) * | 2015-05-07 | 2015-07-22 | 上海电机学院 | Tennis pickup machine operation trajectory control and ultrasonic tennis finding system and method |
| CN107930038A (en) * | 2017-12-28 | 2018-04-20 | 苏州花坞信息科技有限公司 | A kind of table tennis picker based on artificial intelligence |
| CN207429620U (en) * | 2017-10-26 | 2018-06-01 | 浙江理工大学 | Intelligence picks up tennis robot |
| CN108295442A (en) * | 2018-03-30 | 2018-07-20 | 五邑大学 | A kind of conveyor type tennis intelligence pickup robot |
-
2018
- 2018-10-16 CN CN201811205011.8A patent/CN109260676A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE9114914U1 (en) * | 1991-11-30 | 1992-03-19 | Unterberg, Horst, 7760 Radolfzell, De | |
| CN104784900A (en) * | 2015-05-07 | 2015-07-22 | 上海电机学院 | Tennis pickup machine operation trajectory control and ultrasonic tennis finding system and method |
| CN207429620U (en) * | 2017-10-26 | 2018-06-01 | 浙江理工大学 | Intelligence picks up tennis robot |
| CN107930038A (en) * | 2017-12-28 | 2018-04-20 | 苏州花坞信息科技有限公司 | A kind of table tennis picker based on artificial intelligence |
| CN108295442A (en) * | 2018-03-30 | 2018-07-20 | 五邑大学 | A kind of conveyor type tennis intelligence pickup robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109771912A (en) * | 2019-02-17 | 2019-05-21 | 王风文 | A kind of pingpong collection robot |
| CN109771912B (en) * | 2019-02-17 | 2021-02-26 | 青岛黄海学院 | Robot is collected to table tennis |
| CN113750480A (en) * | 2021-10-13 | 2021-12-07 | 浙江科技学院 | Automatic tennis ball picking device |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190125 |