CN109847301A - A kind of ping-pong robot - Google Patents
A kind of ping-pong robot Download PDFInfo
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- CN109847301A CN109847301A CN201910038156.1A CN201910038156A CN109847301A CN 109847301 A CN109847301 A CN 109847301A CN 201910038156 A CN201910038156 A CN 201910038156A CN 109847301 A CN109847301 A CN 109847301A
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Abstract
The application provides a kind of ping-pong robot comprising: first straight line moves mould group, and second straight line moves mould group, component of batting；First straight line movement mould group and second straight line movement mould group are arranged in parallel；The first end of batting component is hinged in first straight line movement mould group, and second end is hinged in second straight line movement mould group, and third end is for batting；First straight line movement mould group and second straight line movement mould group drive batting component to move in the plane parallel with ping-pong table.The first straight line movement mould group and second straight line movement mould group of the application setting are arranged in parallel in the two sides of ping-pong table along the length direction of ping-pong table, first straight line movement mould group and second straight line movement mould group drive batting component to move in the plane parallel with ping-pong table, batting component adjustment racket reaches required position, tilt angle and striking speed in the vertical direction, can be realized biggish motion range, higher movement velocity.
Description
Technical field
The application belongs to robotic technology field, and in particular to a kind of ping-pong robot.
Background technique
Ping-pong robot is a kind of robot that can be played table tennis with the mankind.Existing ping-pong robot mainly has
Following two mode: 1) hanging upside down a five-freedom parallel tool arm and be fixed on above ping-pong table, the parallel mechanical arm
End is connected with racket.2) six degree of freedom serial manipulator, one degree of freedom are done along the width direction of ping-pong table
Linear translational motion.
In general, in the case where same size, the space of the space of parallel mechanical arm than mechanical arm of connecting
Much smaller, therefore, the motion range of the first above-mentioned ping-pong robot is very limited.Above-mentioned second of ping-pong robot
Although the motion range in the width direction along ping-pong table is sufficiently large, the fortune on the length direction along ping-pong table
Dynamic range is very small；And the movement velocity of this parallel robot is very slow, can not be connected to the higher table tennis of ball speed.
Summary of the invention
To be overcome the problems, such as present in the relevant technologies at least to a certain extent, this application provides one kind can be realized compared with
The ping-pong robot of big motion range, higher motion speed.
According to the one side of the embodiment of the present application, this application provides a kind of ping-pong robots comprising: first straight line
Mould group is moved, second straight line moves mould group, component of batting；
The first straight line movement mould group and second straight line movement mould group are arranged in parallel；
The first end of the batting component is hinged in first straight line movement mould group, and second end is hinged on described the
In two linear motion mould groups, third end is for batting；
The first straight line movement mould group and second straight line movement mould group drive the batting component flat with ping-pong table
It is moved in capable plane.
Ping-pong robot as described above, the first straight line movement mould group includes first motor, first straight line slide unit
With the first sliding block, first sliding block is arranged on the first straight line slide unit, and the first motor passes through the first straight line
Slide unit drives first sliding block to do linear translational motion on the first straight line slide unit；
The second straight line movement mould group includes the second motor, second straight line slide unit and the second sliding block, second sliding block
It is arranged on the second straight line slide unit, second motor drives second sliding block in institute by the second straight line slide unit
It states and does linear translational motion on second straight line slide unit.
Ping-pong robot as described above, the first straight line slide unit and second straight line slide unit with ping-pong table length
The centerline parallel in direction.
Ping-pong robot as described above, the batting component include first to fourth connecting rod, electric pushrod, the first pass
Section, second joint, ball rapping bar and racket；
One end of the first connecting rod and first sliding block are hinged, one end of the second connecting rod and second sliding block
Hingedly, the fixing end of the other end of the first connecting rod, the other end of second connecting rod and electric pushrod is hinged；
One end of the third connecting rod and first sliding block are hinged, and one end of the other end and the fourth link is cut with scissors
It connects, the other end of the fourth link is fixedly connected with the fixing end of the electric pushrod；
The output end of the electric pushrod is connect with the fixing end in first joint, the output end in first joint with
The fixing end of second joint connects；The output end of the second joint connects the racket by the ball rapping bar.
Ping-pong robot as described above, first sliding block, first connecting rod, third connecting rod and fourth link constitute one
A parallelogram.
Ping-pong robot as described above, the length of the first connecting rod, the length of second connecting rod and third connecting rod
Be equal in length.
The sum of length of ping-pong robot as described above, the minimum length of the first connecting rod and the ball rapping bar etc.
In the width of ping-pong table.
Ping-pong robot as described above, the first straight line slide unit extend into length and the institute of ping-pong table side
State the length that second straight line slide unit extend into the ping-pong table other side, according to the attainable striking limits on the ball of batting component institute into
Row setting.
Ping-pong robot as described above, the attainable striking limits on the ball of the batting component institute is to carry out to ping-pong table
When all standing, the first straight line slide unit extend into the length of ping-pong table side and the second straight line slide unit extend into table tennis
The length of pang the ball table other side is the half of ping-pong table length.
Ping-pong robot as described above, the ping-pong robot further include vision bracket, vision bracket edge
The width direction of ping-pong table is crossed on the two sides of ping-pong table, and camera is provided on the vision bracket, and the camera is used for
Acquire the moving image of table tennis.
According to the above-mentioned specific embodiment of the application it is found that at least having the advantages that the application ping-pong ball
Device people moves mould group by setting first straight line, second straight line moves mould group and batting component, first straight line move mould group and the
Two linear motion mould groups are arranged in parallel in the two sides of ping-pong table along the length direction of ping-pong table, first straight line move mould group and
Second straight line movement mould group drives batting component to move in the plane parallel with ping-pong table, and batting component adjustment racket is perpendicular
The attainable position of institute, tilt angle and striking speed, the application ping-pong robot can be realized biggish fortune to histogram upwards
Dynamic range, higher movement velocity.
It is to be understood that above-mentioned general description and following specific embodiments are merely illustrative and illustrative, not
The range to be advocated of the application can be limited.
Detailed description of the invention
Following appended attached drawing is a part of the description of the present application, appended attached it illustrates embodiments herein
The principle for describing to be used to illustrate the application together of figure and specification.
Fig. 1 is a kind of structural schematic diagram for ping-pong robot original state that the application specific embodiment provides.
Fig. 2 is the top view of ping-pong robot original state shown in Fig. 1.
Fig. 3 is a kind of structural schematic diagram for ping-pong robot use state that the application specific embodiment provides.
The partial structurtes amplification of batting component in a kind of ping-pong robot that Fig. 4 provides for the application specific embodiment
Figure.
Description of symbols:
1, first straight line moves mould group；11, first straight line slide unit；12, the first sliding block；2, second straight line moves mould group；21,
Second straight line slide unit；22, the second sliding block；3, batting component；31, first connecting rod；32, second connecting rod；33, third connecting rod；34,
Double leval jib；35, electric pushrod；36, the first joint；37, second joint；38, ball rapping bar；39, racket；4, vision bracket；41, phase
Machine.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
Fig. 1 is a kind of structural schematic diagram of ping-pong robot original state provided by the embodiments of the present application, and Fig. 2 is Fig. 1
Top view.As illustrated in fig. 1 and 2, ping-pong robot includes first straight line movement mould group 1, second straight line movement mould group 2 and hits
Ball component 3, first straight line movement mould group 1 and second straight line movement mould group 2 are arranged in parallel, the first end and second for component 3 of batting
End, which respectively corresponds, to be hinged in first straight line movement mould group 1 and second straight line movement mould group 2, and the third end of batting component 3 is used for
Batting.First straight line moves mould group 1 and second straight line movement mould group 2 drives batting component 3 in the plane parallel with ping-pong table
Shot is completed in upper movement.
In the present embodiment, first straight line movement mould group 1 and second straight line movement mould group 2 use identical component and knot
Structure.Specifically, first straight line movement mould group 1 include first motor (not shown),
First straight line slide unit 11 and the first sliding block 12, the first sliding block 12 are arranged on first straight line slide unit 11, first motor
The first sliding block 12 is driven to do linear translational motion on first straight line slide unit 11 by first straight line slide unit 11.
Second straight line moves mould group 2 and includes the second motor (not shown), second straight line slide unit 21 and the second sliding block 22,
Second sliding block 22 is arranged on second straight line slide unit 21, and the second motor drives the second sliding block 22 the by second straight line slide unit 21
Linear translational motion is done on two straight line slide units 21.
In use, first straight line movement mould group 1 and second straight line movement mould group 2 are arranged in parallel in the two sides of ping-pong table,
And the centerline parallel of first straight line slide unit 11 and second straight line slide unit 21 with ping-pong table length direction.
Bat component 3 include first connecting rod 31, second connecting rod 32, third connecting rod 33, fourth link 34, electric pushrod 35,
First joint 36, second joint 37, ball rapping bar 38 and racket 39.
One end of first connecting rod 31 and the first sliding block 12 are hinged, and one end of second connecting rod 32 and the second sliding block 22 are hinged, the
The fixing end of the other end of one connecting rod 31, the other end of second connecting rod 32 and electric pushrod 35 is hinged.
One end of third connecting rod 33 and the first sliding block 12 are hinged, and the other end and one end of fourth link 34 are hinged, and the 4th
The other end of connecting rod 34 is fixedly connected with the fixing end of electric pushrod 35.In this way, the first sliding block 12, first connecting rod 31, third connect
Bar 33 and fourth link 34 constitute a parallelogram.Since first connecting rod 31 and third connecting rod 33 are on the first sliding block 12
The direction of the line of hinge joint remains unchanged, and fourth link 34 is parallel with the line, therefore batting component 3 is in the process of movement
In, the direction of electric pushrod 35 can remain constant.
It is understood that when first motor drives the first sliding block 12 in first straight line slide unit by first straight line slide unit 11
Linear translational motion is done on 11, and the second motor drives the second sliding block 22 in second straight line slide unit 21 by second straight line slide unit 21
On when doing linear translational motion, the first sliding block 12 and the second sliding block 22 will drive first connecting rod 31, second connecting rod 32 and electronic push away
The hinge joint of bar 35 can reach any position above ping-pong table and in the plane parallel with ping-pong table.Using this knot
Structure, ping-pong robot can be realized the grand movement in horizontal plane.
As shown in figure 4, the output end of electric pushrod 35 is connect with the fixing end in the first joint 36, the output in the first joint 36
End is connect with the fixing end of second joint 37.The output end of second joint 37 connects racket 39 by ball rapping bar 38.It is understood that
, the stretching motion of electric pushrod 35 can drive racket 39 vertical direction move.The output end in the first joint 36 can be with
It rotates freely, provides the speed of ping-pong table length direction needed for batting by rotation.It is adjustable by second joint 37
The tilt angle of racket 39, preferably completes shot.
In the present embodiment, first connecting rod 31, second connecting rod 32 be will drive for the first sliding block 12 of guarantee and the second sliding block 22
Any position above ping-pong table and in the plane parallel with ping-pong table can be reached with the hinge joint of electric pushrod 35, the
The sum of minimum length and the length of ball rapping bar 38 of one connecting rod 31 are equal to the width of ping-pong table, and the length of first connecting rod 31
Degree, the length of second connecting rod 32 and third connecting rod 33 are equal in length.
In the present embodiment, first straight line slide unit 11 extend into the length and second straight line slide unit 21 of ping-pong table side
The length for extending into the ping-pong table other side is set according to the 3 attainable striking limits on the ball of institute of batting component.
For example, the 3 attainable striking limits on the ball of institute of batting component is first straight line slide unit when carrying out all standing to ping-pong table
11 extend into the length of ping-pong table side and second straight line slide unit 21 to extend into the length of the ping-pong table other side be table tennis
The half of pang ball table length, the i.e. top of first straight line slide unit 11 and the top of second straight line slide unit 21 reach on ping-pong table
The position on straight line where net, and the sum of the length of first connecting rod 31 and 38 length of ball rapping bar is greater than the width of ping-pong table
Degree, the length of first connecting rod 31 are equal to the length of second connecting rod 32.
For another example first straight line slide unit 11 protrudes into when the 3 attainable striking limits on the ball of institute of batting component is half of ping-pong table
It is ping-pong table that length and second straight line slide unit 21 to ping-pong table side, which extend into the length of the ping-pong table other side,
The 1/4 of length, the i.e. top of first straight line slide unit 11 and the top of second straight line slide unit 21 reach on ping-pong table net with
The position on the straight line where midpoint between one end of batting 3 place side ping-pong table of component, and the length of first connecting rod 31
The width with the sum of 38 length of ball rapping bar greater than ping-pong table is spent, the length of first connecting rod 31 is equal to the length of second connecting rod 32.
In the present embodiment, ping-pong robot further includes vision bracket 4, and camera 41 is provided on vision bracket 4.Specifically
Ground, there are two the settings of camera 41, and two cameras 41 are symmetrical arranged by symmetry axis of the center line of ping-pong table length direction.Table tennis
Ball robot is in use, vision bracket 4 is crossed on the two sides of ping-pong table along the width direction of ping-pong table, specifically, along table tennis
The width direction of pang ball table is crossed on the two sides of net on ping-pong table.When ping-pong robot works, camera 41 is for acquiring
The moving image of table tennis, and predicted using motion profile of the prediction algorithm to table tennis, hitting point is calculated, carries out
Batting.
The present embodiment is by taking the batter's box of ping-pong robot shown in Fig. 3 and posture as an example, to ping-pong robot
Batting motion process is described as follows:
The initial position of ping-pong robot is as shown in Figure 1, the face of racket 39 is parallel with vertical direction, and and table tennis
The width direction of table is vertical；First sliding block 12 is located at the center of 11 top surface of first straight line slide unit, and the second sliding block 22 is located at second
At the center of 21 top surface of straight line slide unit；Projection of the hinge joint of first connecting rod 31 and second connecting rod 32 on ping-pong table is located at table tennis
On the center line of pang ball table length direction.
Ping-pong robot acquires the image after table tennis leaves racket 39 by camera 41, passes through image recognition algorithm pair
The motion profile of table tennis is identified in image, is predicted by foothold of the trajectory predictions algorithm to table tennis, and count
Calculate hitting point.Ping-pong robot control batting component 3 is moved, sliding by first connecting rod 31, second connecting rod 32, first
The movement of block 12 and the second sliding block 22, control racket 39 reach institute above ping-pong table and in the plane parallel with ping-pong table
Need position；Racket 39, which is controlled, by electric pushrod 35 reaches required position in the vertical direction；Ball is adjusted by second joint 37
The tilt angle for clapping 39, striking speed needed for providing racket 39 by the rotation in the first joint 36, completes shot.
After the completion of shot, ping-pong robot turns again to initial position shown in FIG. 1, waits for next
Secondary shot.
The application ping-pong robot passes through first connecting rod 31, second connecting rod 32, the first sliding block 12 and the second sliding block 22
Motion control racket 39 in the flat in-plane moving parallel with ping-pong table, Y-direction of connect with the movement of existing X-direction move or
The hinged plane motion processing mode of two connecting rods is compared, under the conditions of identical driving power, the application ping-pong robot energy
Enough realize higher movement velocity.
Since in existing plane motion processing mode, X-direction movement series connection Y-direction movement means the movement of Y-direction
Mould group is the load of X-direction, then driving force needed for the movement mould group of X-direction is just very big, therefore in the case of equal-wattage
Movement velocity is less than the movement velocity of the application ping-pong robot.Two the hinged of connecting rod move to other one from a position
A position is that two connecting rods around respective hinge joint do circular-rotation, and equally, a connecting rod is the negative of another connecting rod
It carries, and the path moved is camber line.And the moving line of the application ping-pong robot is straight line, and without increasing load
Situation, therefore under equal-wattage, the application ping-pong robot moves to another point from a point naturally will be more
It is quicker.
It is understood that same or similar part can mutually refer in the various embodiments described above, in some embodiments
Unspecified content may refer to the same or similar content in other embodiments.
It should be noted that term " first ", " second " etc. are used for description purposes only in the description of the present application, without
It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present application, unless otherwise indicated, the meaning of " multiple "
Refer at least two.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by the application
Embodiment person of ordinary skill in the field understood.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it should not be understood as the limitation to the application, those skilled in the art within the scope of application can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of ping-pong robot characterized by comprising
First straight line moves mould group,
Second straight line moves mould group,
Batting component；
The first straight line movement mould group and second straight line movement mould group are arranged in parallel；
The first end of the batting component is hinged in the first straight line movement mould group, and it is straight that second end is hinged on described second
Line moves in mould group, and third end is for batting；
The first straight line movement mould group and second straight line movement mould group drive the batting component parallel with ping-pong table
It is moved in plane.
2. ping-pong robot according to claim 1, which is characterized in that the first straight line movement mould group includes first
Motor, first straight line slide unit and the first sliding block, first sliding block are arranged on the first straight line slide unit, the first motor
First sliding block is driven to do linear translational motion on the first straight line slide unit by the first straight line slide unit；
The second straight line movement mould group includes the second motor, second straight line slide unit and the second sliding block, the second sliding block setting
On the second straight line slide unit, second motor drives second sliding block described the by the second straight line slide unit
Linear translational motion is done on two straight line slide units.
3. ping-pong robot according to claim 2, which is characterized in that the first straight line slide unit and second straight line are sliding
Centerline parallel of the platform with ping-pong table length direction.
4. ping-pong robot according to claim 2, which is characterized in that the batting component includes first to fourth company
Bar, electric pushrod, the first joint, second joint, ball rapping bar and racket；
One end of the first connecting rod and first sliding block are hinged, and one end of the second connecting rod and second sliding block are cut with scissors
It connects, the fixing end of the other end of the first connecting rod, the other end of second connecting rod and electric pushrod is hinged；
One end of the third connecting rod and first sliding block are hinged, and the other end and one end of the fourth link are hinged, institute
The other end for stating fourth link is fixedly connected with the fixing end of the electric pushrod；
The output end of the electric pushrod is connect with the fixing end in first joint, the output end and second in first joint
The fixing end in joint connects；The output end of the second joint connects the racket by the ball rapping bar.
5. ping-pong robot according to claim 4, which is characterized in that first sliding block, first connecting rod, third connect
Bar and fourth link constitute a parallelogram.
6. ping-pong robot according to claim 4, which is characterized in that the length of the first connecting rod, second connecting rod
Length and third connecting rod be equal in length.
7. ping-pong robot according to claim 6, which is characterized in that the minimum length of the first connecting rod with it is described
The sum of length of ball rapping bar is equal to the width of ping-pong table.
8. described in any item ping-pong robots according to claim 1~7, which is characterized in that the first straight line slide unit is stretched
The length for entering to the length of ping-pong table side and the second straight line slide unit to extend into the ping-pong table other side, according to described
The attainable striking limits on the ball of batting component institute is set.
9. ping-pong robot according to claim 8, which is characterized in that the attainable batting model of the batting component institute
When enclosing to carry out all standing to ping-pong table, the first straight line slide unit extend into the length and described the of ping-pong table side
Two straight line slide units extend into the ping-pong table other side length be ping-pong table length half.
10. described in any item ping-pong robots according to claim 1~7, which is characterized in that the ping-pong robot is also
Including vision bracket, the vision bracket is crossed on the two sides of ping-pong table, the vision branch along the width direction of ping-pong table
Camera is provided on frame, the camera is used to acquire the moving image of table tennis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910038156.1A CN109847301B (en) | 2019-01-16 | 2019-01-16 | Table tennis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910038156.1A CN109847301B (en) | 2019-01-16 | 2019-01-16 | Table tennis robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109847301A true CN109847301A (en) | 2019-06-07 |
| CN109847301B CN109847301B (en) | 2020-11-27 |
Family
ID=66894815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910038156.1A Active CN109847301B (en) | 2019-01-16 | 2019-01-16 | Table tennis robot |
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| Country | Link |
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| CN (1) | CN109847301B (en) |
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| CN111283700A (en) * | 2020-05-11 | 2020-06-16 | 上海庞勃特科技有限公司 | Table tennis service robot, table tennis service method and computer-readable storage medium |
| CN111546332A (en) * | 2020-04-23 | 2020-08-18 | 上海电机学院 | Table tennis robot system based on embedded equipment and application |
| CN114750231A (en) * | 2022-04-25 | 2022-07-15 | 淮阴工学院 | Pleurotus eryngii root cutting device and cutting track control method thereof |
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| US9480897B2 (en) * | 2012-02-14 | 2016-11-01 | Kettler International, Inc. | Holding apparatus for a net of a table-tennis table |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114750231B (en) * | 2022-04-25 | 2024-02-06 | 淮阴工学院 | Pleurotus eryngii root cutting device and cutting track control method thereof |
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| Publication number | Publication date |
|---|---|
| CN109847301B (en) | 2020-11-27 |
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