CN110466635B - Electromagnetic release bouncing robot, badminton robot and electromagnetic release bouncing mechanism - Google Patents

Electromagnetic release bouncing robot, badminton robot and electromagnetic release bouncing mechanism Download PDF

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Publication number
CN110466635B
CN110466635B CN201910863979.8A CN201910863979A CN110466635B CN 110466635 B CN110466635 B CN 110466635B CN 201910863979 A CN201910863979 A CN 201910863979A CN 110466635 B CN110466635 B CN 110466635B
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bouncing
base
wrist
rotating shaft
robot
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CN110466635A (en
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宦红伦
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Zhejiang Wanli University
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Zhejiang Wanli University
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Priority to CN201910863979.8A priority Critical patent/CN110466635B/en
Priority to PCT/CN2019/109508 priority patent/WO2021046947A1/en
Publication of CN110466635A publication Critical patent/CN110466635A/en
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Publication of CN110466635B publication Critical patent/CN110466635B/en
Priority to ZA2021/07126A priority patent/ZA202107126B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

Abstract

The invention discloses an electromagnetic release bouncing mechanism, which comprises an electromagnet base and a magnetic iron disc, wherein the magnetic iron disc can be adsorbed on the electromagnet base under the action of electromagnetic force, and a bouncing energy storage and release mechanism is arranged on the magnetic iron disc; the bouncing energy-storing and releasing mechanism comprises a base arranged above the magnetic iron disc, the base is provided with at least three bouncing legs which are uniformly distributed in an annular shape and are hinged with the base, and the free ends of the bouncing legs, which are far away from the base, are positioned outside the magnetic iron disc; the bouncing energy storage and release mechanism further comprises: the opening driving mechanism is used for driving the bouncing legs to open or close; and the bouncing energy releasing mechanism is used for accumulating potential energy when the bouncing legs are opened, releasing the potential energy after the electromagnetic force between the electromagnet base and the magnetic iron disc disappears, and driving the bouncing legs to be closed and bounce. The invention also discloses an electromagnetic release bouncing robot and an electromagnetic release bouncing badminton robot.

Description

Electromagnetic release bouncing robot, badminton robot and electromagnetic release bouncing mechanism
Technical Field
The invention relates to a bouncing robot, in particular to an electromagnetic release bouncing robot, a badminton robot and an electromagnetic release bouncing mechanism.
Background
With the popularization and popularization of intelligent manufacturing, in order to effectively reduce cost and improve service efficiency and service quality, the robot is used as automatic and intelligent equipment, and is more and more widely applied to culture, entertainment and sports.
Chinese patent application publication No. CN 102050165a discloses a motor-driven vertical bouncing mechanism for a robot. The mechanism comprises a base, an upper cover plate, a central motor, a central guide pillar, a central cylindrical cam and two protruding rods, wherein the central cylindrical cam is fixedly connected to an output shaft at the lower end of the central motor and is matched with the central guide pillar through a central blind hole; and the folding rod mechanism is hinged between the upper cover plate and the base. When the central cylindrical cam rotates, the spiral groove on the outer surface of the central cylindrical cam moves downwards under the action of external force, the six-rod mechanism is driven to deform, the center of gravity of the mechanism moves downwards, and meanwhile, the tension spring generates internal stress, so that the robot jumps.
Chinese patent application publication No. CN108854005A discloses an omni-directional mobile badminton robot. The electric control box comprises a main moving unit, an induction probe mounting frame, an induction probe, an electric control box, an auxiliary moving unit, a rotary lifting unit and a hitting unit. The included angle between the adjacent axes of the four combined wheels of the main moving unit is 90 degrees, the lower part of the main moving unit is provided with an auxiliary moving unit, and the upper part of the auxiliary moving unit is provided with a rotary lifting unit and a striking unit. The robot realizes all-directional movement in any direction in a plane through the moving unit, so that the robot can rapidly move to the position near a badminton falling point, and the rotating lifting unit and the hitting unit of the robot can realize movement and rotation in space.
One part of the existing hopping robot is a bionic walking and hopping robot, the other part of the existing hopping robot is an electromechanical gain type elastic mechanism, and the driving modes comprise pneumatics, centrifugal force, spring elasticity and the like. The existing hopping robot is mainly used in the fields of archaeology, military, geology or other planet exploration and the like which need obstacle crossing capability, generally, the robot hops as a whole and only has one of two modes of continuous hopping or intermittent hopping. For badminton, high-point shots are a common shot pattern in badminton. The existing badminton robot does not have a bouncing function, and due to the restriction of gravity center and stability, the hitting height of the existing badminton robot is limited, so that the hitting height can only exist in a lower range.
Disclosure of Invention
In view of the above, the present invention provides an electromagnetic release bouncing robot, a badminton robot and an electromagnetic release bouncing mechanism, which can bounce in a continuous mode and an intermittent mode, and have a higher bouncing height and a more flexible and variable degree of freedom.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention firstly provides an electromagnetic release bouncing mechanism, which comprises an electromagnet base and a magnetic iron disc, wherein the magnetic iron disc can be adsorbed on the electromagnet base under the action of electromagnetic force, and a bouncing energy storage and release mechanism is arranged on the magnetic iron disc;
the bouncing energy-storing and releasing mechanism comprises a base arranged above the magnetic iron disc, the base is provided with at least three bouncing legs which are uniformly distributed in an annular shape and are hinged with the base, and the free ends of the bouncing legs, which are far away from the base, are positioned outside the magnetic iron disc;
the bouncing energy storage and release mechanism further comprises:
the opening driving mechanism is used for driving the bouncing legs to open or close;
and the bouncing energy releasing mechanism is used for accumulating potential energy when the bouncing legs are opened, releasing the potential energy after the electromagnetic force between the electromagnet base and the magnetic iron disc disappears, and driving the bouncing legs to be closed and bounce.
Furthermore, the opening driving mechanism comprises electric push-pull rods which are arranged in one-to-one correspondence with the bouncing legs, one ends of the electric push-pull rods are respectively hinged with the bouncing legs, and the other ends of the electric push-pull rods are hinged with the magnetic iron disc or the base.
Further, the bouncing energy release mechanism comprises an extension spring for accumulating potential energy and releasing the potential energy;
the extension spring is arranged between the two bouncing legs; or the like, or, alternatively,
the extension springs are arranged in one-to-one correspondence with the bouncing legs, and the extension springs are arranged between the bouncing legs and the magnetic iron disc or the base.
Furthermore, the free end of the bouncing leg is provided with a roller which is matched with the electromagnet base in a rolling way.
Furthermore, a support connecting rod is arranged between the magnetic iron disc and the base to connect; or an adjusting mechanism for adjusting the height of the base relative to the electromagnet base is arranged between the electromagnet base and the base.
The invention also provides an electromagnetic release bouncing robot, which is characterized in that: the electromagnetic bouncing device comprises an omnidirectional moving trolley and the electromagnetic releasing bouncing mechanism, wherein the electromagnet base is arranged on the top surface of the omnidirectional moving trolley.
The invention also provides an electromagnetic release bouncing badminton robot, which comprises the electromagnetic release bouncing robot, wherein a badminton hitting mechanism is arranged on the base;
the badminton hitting mechanism comprises a large arm rotating shaft fixedly arranged on the base, a large arm rotating shaft synchronously rotating with the large arm rotating shaft is sleeved on the large arm rotating shaft, a small arm coaxial with the large arm is sleeved in the large arm, a wrist is arranged at the top of the small arm, a wrist rotating shaft is arranged on the wrist, a handle holder rotatably matched with the wrist rotating shaft is sleeved on the wrist rotating shaft, and a racket is arranged on the handle holder;
the big arm rotating shaft and the wrist rotating shaft are both vertical to the rotating shaft of the small arm, and the space between the big arm rotating shaft and the wrist rotating shaft is vertical;
the racket handle holder further comprises a large arm driving mechanism for driving the large arm to rotate around the large arm horizontal rotating shaft, a small arm driving mechanism for driving the small arm to rotate and a wrist driving motor for driving the racket handle holder to rotate around the wrist horizontal rotating shaft.
Further, the large arm driving mechanism comprises a large arm driving motor fixedly arranged on the magnet disc or the base, and an output shaft of the large arm driving motor is in transmission connection with the large arm rotating shaft;
the small arm driving mechanism comprises a small arm driving motor arranged in the large arm, and an output shaft of the small arm driving motor is in transmission connection with the small arm;
the wrist driving mechanism comprises a wrist driving motor arranged on the wrist, and an output shaft of the wrist driving motor is in transmission connection with the wrist rotating shaft.
Furthermore, the omnidirectional movement dolly adopts intelligent AGV dolly, be equipped with in the intelligent AGV dolly and be used for carrying out vision tracking, orbit fitting, the landing point calculation and the vision sensing system who judges and be used for fixing a position to the target ball the navigation positioning system of intelligent AGV fast movement to take off the place or landing point.
Further, still include control system, control system is including installing iron plate is inhaled to magnetism or control box on the base, be equipped with controller, wireless communication module in the control box, be used for control big arm motor control circuit, the control that is used for of big arm driving motor action the forearm motor control circuit of forearm driving motor action with be used for control the wrist motor control circuit of wrist driving motor action, the controller with wireless communication module, big arm motor control circuit, forearm motor control circuit and wrist motor control circuit electricity are connected, just be equipped with in the intelligence AGV dolly with wireless communication module realizes wireless communication's wireless communication system.
The invention has the beneficial effects that:
the electromagnetic release bouncing mechanism can adsorb the bouncing energy storage and release mechanism on the electromagnet base by utilizing the electromagnetic force adsorption effect between the electromagnet base and the magnet disc, so that the stability of the bouncing energy storage and release mechanism when the bouncing energy storage and release mechanism does not bounce and the quick stability after the bouncing are ensured; the bouncing energy storage and release mechanism is arranged, the unfolding driving mechanism is used for driving the bouncing legs to unfold or fold, the bouncing energy release mechanism accumulates potential energy in the unfolding process of the bouncing legs, the potential energy cannot be released under the electromagnetic force adsorption action between the electromagnet base and the magnetic iron disc, and after the electromagnetic force adsorption action between the electromagnet base and the magnetic iron disc disappears, the bouncing energy release mechanism releases the accumulated potential energy to drive the bouncing legs to fold and enable the magnetic iron disc and the bouncing energy storage and release mechanism to bounce together; according to the bouncing principle of the electromagnetic release bouncing mechanism, the accumulation and release of potential energy can be a continuous process or an intermittent process, so that the electromagnetic release bouncing mechanism can realize continuous bouncing or intermittent bouncing.
According to the electromagnetic release bouncing robot, the omnidirectional moving trolley is arranged, and the electromagnet base is arranged on the omnidirectional moving trolley, so that the omnidirectional moving trolley can be used for controlling the bouncing position, the omnidirectional moving trolley can be used for accurately catching a bouncing component, and the bouncing flexibility is improved.
According to the electromagnetic release bouncing badminton robot, the badminton hitting mechanism is arranged, the large-arm rotating shaft and the small-arm rotating shaft which are perpendicular to each other are used for controlling the spatial position of a racket, and the wrist rotating shaft is used for controlling the flapping direction of the racket, so that the technical purposes of quickly adjusting the position of the racket according to the ball coming direction and achieving hitting and flapping can be achieved.
The electromagnetic release bouncing badminton robot further has the following advantages:
1) the bounce direction can be changed to a certain extent by utilizing the centrifugal force generated by the swinging of the mechanical arm of the badminton hitting mechanism, and the bounce height can be greatly improved under the combined action of the elastic force of the extension spring and the centrifugal force; the bounce height can be controlled by adjusting the extension length of the extension spring and changing the speed of the swing arm of the mechanical arm through an electric pull rod on the bounce leg;
2) the intelligent AGV car can be used as a carrier of the bounce robot, can randomly run in a flat field, can hit low-altitude flight shuttlecocks when not jumping, and can hit high-point shuttlecocks after jumping to complete actions such as high-point killing, ball hanging and the like, so that the functions and the performances are more complete;
the electromagnetic release bouncing badminton robot disclosed by the invention is simple in structure and strong in controllability, exerts the advantages of quick positioning of the intelligent AGV trolley and high batting of the bouncing robot, can take off continuously or discontinuously, can meet the requirements of omnibearing full-time-domain full-airspace batting of badminton, excellently simulates batting behaviors of badminton players, and even can reach a very high level; the robot has great significance for improving the automation and intelligence level of service type and competitive robots in China and accelerating and promoting the progress and development of intelligent robots.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a schematic structural diagram of an embodiment of an electromagnetic release bouncing badminton robot of the invention;
FIG. 2 is a schematic diagram illustrating a state of the electromagnetic release bouncing badminton robot at the moment of take-off;
fig. 3 is a schematic view of the state of hitting the ball when the electromagnetic release bouncing badminton robot is not jumping in the embodiment.
Description of reference numerals:
1. moving the trolley in an omnidirectional manner; 2. an electromagnet base; 3. a base; 4. a power source; 5. magnetically attracting the iron plate; 6. a support link; 7. a large arm drive motor; 8. an electric push-pull rod; 9. a roller; 10. bouncing legs; 11. a universal joint; 12. an extension spring; 13. a control box; 14. a large arm; 15. a bevel gear transmission mechanism; 16. a small arm driving motor; 17. a small arm; 18. a wrist driving motor; 19. a wrist; 20. a handle holder; 21. a racket.
Detailed Description
The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.
As shown in fig. 1, a schematic diagram of a state of hitting a ball by the electromagnetic release bouncing badminton robot in the embodiment is shown when the robot does not take off a jump. The electromagnetic release bouncing badminton robot comprises an electromagnetic release bouncing robot. The electromagnetic release bouncing robot of the embodiment comprises an omnidirectional moving trolley 1 and an electromagnetic release bouncing mechanism. The electromagnetic release bouncing mechanism of the embodiment comprises an electromagnet base 2 and a magnet disc 5 which can be attracted on the electromagnet base 2 under the action of electromagnetic force, wherein a bouncing energy storage and release mechanism is arranged on the magnet disc 5;
the bouncing energy-storing and releasing mechanism comprises a base 3 arranged above a magnetic iron disc 5, at least three bouncing legs 10 which are hinged with the base 3 and are uniformly distributed in an annular shape are arranged on the base 3, and the free ends of the bouncing legs 10 far away from the base 3 are positioned outside the magnetic iron disc 5. The number of the bouncing legs 10 in the embodiment is three.
The bounce energy storage and release mechanism of the embodiment further comprises:
the opening driving mechanism is used for driving the bouncing legs 10 to open or close;
and the bouncing energy releasing mechanism is used for accumulating potential energy when the bouncing legs 10 are opened, releasing the potential energy after the electromagnetic force between the electromagnet base 2 and the magnetic iron disc 5 disappears, and driving the bouncing legs 10 to be closed and bounce. The potential energy sources are various, namely the energy output when the bouncing leg 10 is driven to be unfolded by the unfolding driving mechanism, and the gravitational potential energy and the like in the robot landing process are not described in detail.
The electromagnet base 2 of this embodiment is arranged on the top surface of the omnidirectional mobile trolley 1, and the base 3 of this embodiment is provided with a badminton hitting mechanism.
The badminton hitting mechanism of the embodiment comprises a large arm rotating shaft fixedly arranged on a base 3, a large arm 14 rotating synchronously with the large arm is sleeved on the large arm rotating shaft, a small arm 17 coaxial with the large arm is sleeved in the large arm 14, a wrist 19 is arranged at the top of the small arm 17, a wrist rotating shaft is arranged on the wrist 19, a handle holder 20 in rotating fit with the wrist rotating shaft is sleeved on the wrist rotating shaft, and a racket 21 is arranged on the handle holder 20. The big arm rotating shaft and the wrist rotating shaft are both vertical to the rotating shaft of the small arm 17, and the space between the big arm rotating shaft and the wrist rotating shaft is vertical. The badminton striking mechanism of the present embodiment further includes a large arm driving mechanism for driving the large arm 14 to rotate about a large arm horizontal rotation axis, a small arm driving mechanism for driving the small arm 17 to rotate, and a wrist driving motor 18 for driving the handle holder 20 to rotate about a wrist horizontal rotation axis.
Further, the unfolding driving mechanism of the embodiment includes electric push-pull rods 8 corresponding to the bouncing legs 10 one by one, one ends of the electric push-pull rods 8 are respectively hinged to the bouncing legs 10, and the other ends are hinged to the magnetic iron disc 5 or the base 3, and the electric push-pull rods 8 are used for driving the bouncing legs 10 to unfold and outputting energy required for driving the bouncing legs 10 to unfold. The magnet disc 5 of this embodiment is hinged.
Further, the bouncing energy releasing mechanism of the present embodiment includes an extension spring 12 for accumulating potential energy and releasing potential energy; specifically, the extension spring 12 is arranged between the two bouncing legs 10; or, the extension springs 12 are arranged corresponding to the bouncing legs 10 one by one, and the extension springs 12 are arranged between the bouncing legs 10 and the magnetic iron disc 5 or the base 3, so that the technical purposes of extending the extension springs 12 in the process of unfolding the bouncing legs 10 and converting the energy output by the electric push-pull rod 8 into the potential energy of the extension springs 12 can be achieved. The extension spring 12 of the present embodiment is disposed between two adjacent bouncing legs 10, and two ends of the extension spring 12 are respectively hinged to the corresponding bouncing legs 10 through universal joints 11.
Furthermore, the free end of the bouncing leg 10 is provided with the roller 9 which is matched with the electromagnet base 2 in a rolling way, so that the friction force between the bouncing leg 10 and the electromagnet base 2 can be reduced, the energy loss is reduced, and the abrasion of the electromagnet base 2 is reduced.
Further, a support connecting rod 6 is arranged between the magnetic iron disc 5 and the base 3 to connect, and at the moment, the distance between the electromagnet base 2 and the base 3 cannot be adjusted; or an adjusting mechanism for adjusting the height of the base 3 relative to the electromagnet base 2 is arranged between the electromagnet base 2 and the base 3, so that the distance between the electromagnet base 2 and the base 3 is adjusted through the adjusting mechanism, the bouncing legs 10 can be unfolded and abducted, and the maximum unfolding angle of the bouncing legs 10 can be controlled. The magnetic iron disc 5 of the embodiment is connected with the base 3 through a support connecting rod 6.
Further, the large arm driving mechanism of the embodiment includes a large arm driving motor 7 fixedly installed on the magnet disc 5 or the base 3, and an output shaft of the large arm driving motor 7 is in transmission connection with the large arm rotating shaft. The large arm driving mechanism of the embodiment comprises a bevel gear transmission mechanism 15 which is fixedly arranged on the base 3, and is in transmission connection with an output shaft of the large arm driving motor 7 and a large arm rotating shaft.
The small arm driving mechanism of the embodiment comprises a small arm driving motor 16 arranged in the large arm 14, and an output shaft of the small arm driving motor 16 is in transmission connection with the small arm 17. The output shaft of the small arm driving motor 16 of the present embodiment is coaxial with the small arm 17, and the output shaft of the small arm driving motor 16 is connected to the small arm 17 by a connecting shaft.
The wrist driving mechanism of the embodiment comprises a wrist driving motor 18 arranged on a wrist 19, and an output shaft of the wrist driving motor 18 is in transmission connection with a wrist rotating shaft.
Further, the omnidirectional moving trolley 1 of the embodiment adopts an intelligent AGV trolley, and a vision sensing system for performing vision tracking, trajectory fitting, and landing point calculation and judgment on a target coming ball and a navigation positioning system for positioning the intelligent AGV to rapidly move to a take-off place or a landing place are arranged in the intelligent AGV trolley.
Further, the electromagnetic release bounce badminton robot of this embodiment still includes control system, control system is including installing control box 13 on base 3, be equipped with the controller in the control box 13, wireless communication module, be used for controlling the big arm motor control circuit of big arm driving motor 7 action, be used for controlling the forearm motor control circuit of forearm driving motor 16 action and be used for controlling the wrist motor control circuit of wrist driving motor 18 action, controller and wireless communication module, big arm motor control circuit, forearm motor control circuit and wrist motor control circuit electricity are connected, and be equipped with in the intelligent AGV dolly and realize wireless communication's wireless communication system with wireless communication module. The control box 13 of the present embodiment is disposed at one end of the large arm rotation shaft, and the other end of the large arm rotation shaft is provided with the power source 4, so that interference with the large arm can be prevented.
The electromagnetic release bounce badminton robot of this embodiment utilizes the electro-magnet base 2 on the intelligent AGV dolly, produces the appeal to magnetic iron plate 5 for bounce leg 10 opens, and extension spring 12 is tensile between the leg, accumulates elastic potential energy. The electromagnet base 2 is powered off, the magnetic force of the electromagnet base 2 on the magnetic iron disc 5 disappears suddenly, the elastic potential energy of the extension spring 12 of the bouncing leg 10 is converted into mechanical energy to drive the bouncing leg to move back 10 and bounce upwards, meanwhile, the large arm, the small arm and the wrist of the robot swing upwards to generate centrifugal force, and the robot is promoted to jump under the combined action of the elastic force of the extension spring 12 and the centrifugal force of the mechanical arm. According to the kinematics and dynamics calculation and the mechanical arm path planning of the bouncing robot, after the bouncing robot takes off, the control system respectively drives the motors to drive the corresponding joints of the robot to reach a proper motion state so as to drive the racket to hit the badminton. After the badminton hitting action is completed, the driving motor drives the corresponding joint of the robot to move, and the posture adjusting task is executed, so that the three feet are basically in the same horizontal plane. The robot falls, and the electro-magnet base 2 circular telegram of AGV dolly, extension spring 10 are elongated, absorb the descending impact energy of robot, and electro-magnet base 2 and 5 actuation of magnet disc are inhaled, are ready for next take-off. The intelligent AGV trolley is used as a carrying tool of the robot, determines the jumping point of the robot, and can move in any direction. The stretching length of the stretching spring 12 can be adjusted by an electric push-pull rod, the stretching length of the stretching spring 12 directly influences the magnitude of the elastic force, and the takeoff height can be controlled by combining the swinging speed of the mechanical arm. Besides being sucked by the electromagnet base 2, the magnet disc 5 also has the function of lowering the gravity center of the robot, so that the robot has certain stability in flying, striking and descending.
The following is a detailed description of the working process of the electromagnetic release bouncing badminton robot in this embodiment:
initial state: the electromagnet base 2 is electrified, the magnetic iron disc 5 is adsorbed on the electromagnet base 2, the electric push-pull rod 8 extends to the longest position, the opening angle of the bouncing leg 10 is at the maximum position, and potential energy for driving bouncing is stored in the extension spring 12; the big arm and the racket held by the wrist of the robot are in a vertical state.
Non-jumping and hitting ball: through vision measurement, pursuit and calculation, intelligence AGV dolly transport robot arrives batting position, and the batting is beaten to the direct swing arm.
Preparing take-off: determining a take-off point and a take-off direction through visual measurement, tracking and calculation, enabling the intelligent AGV car carrying robot to reach a ball hitting position, and enabling the control system to send an instruction to adjust the electric push-pull rod 8 to enable the length of the tension spring 12 to be stretched to a proper length; if the centrifugal force is not needed to assist in taking off, the big arm and the racket held by the wrist are kept in a vertical state, and taking off is vertical in the state; if centrifugal force is needed to assist take-off, the big arm is adjusted to be in a horizontal position, the racket held by the wrist is adjusted to be in a sagging state, and the take-off can be taken off laterally in a plane where the big arm rotates due to the centrifugal force in the state.
Taking off: and the vehicle-mounted electromagnet is powered off, the large arm and the small arm swing upwards or keep still, and the robot takes off.
Rising in the air (leading bat before batting): according to the kinematics and dynamics calculation of the bouncing robot, the control system drives the big arm, the small arm and the wrist through the motor to reversely shoot towards the direction of the heading ball.
Lofting (hitting): the big arm, the small arm and the wrist are driven by respective motors to drive the racket to hit the ball.
Soaring and landing (after hitting): the big arm, the small arm and the wrist are driven by respective motors, the posture of the base 3 is adjusted to be horizontal according to the kinematics and the dynamic calculation of the bouncing robot, the electric push-pull rod 8 enables the tension spring to be in the shortest position, the bouncing leg 10 is closed inwards, and the electromagnet base 2 is electrified to generate electromagnetic attraction force.
Landing and recovering: the gyro wheel of spring leg 10 touches the upper surface of intelligent AGV dolly and begins, and under the effect of descending impact force and the effect of electro-magnet iron disc attraction force to magnetism, spring leg 10 expandes, and extension spring cushions the impact force, touches and touches intelligent AGV dolly surface and firmly is inhaled by on-vehicle electro-magnet until magnetism is inhaled the iron disc and is inhaled. And finally, the large arm, the small arm and the wrist are driven by respective motors to return to the vertical state.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.

Claims (8)

1. An electromagnetic release mechanism that bounces which characterized in that: the energy storage and release device comprises an electromagnet base (2) and a magnetic iron disc (5) which can be adsorbed on the electromagnet base (2) under the action of electromagnetic force, wherein a bouncing energy storage and release mechanism is arranged on the magnetic iron disc (5);
the bouncing energy-storing and releasing mechanism comprises a base (3) arranged above the magnetic iron disc (5), at least three bouncing legs (10) which are hinged with the base (3) and are uniformly distributed in an annular manner are arranged on the base (3), and the free ends of the bouncing legs (10) far away from the base (3) are positioned outside the magnetic iron disc (5);
the bouncing energy storage and release mechanism further comprises:
the opening driving mechanism is used for driving the bouncing legs (10) to open or close;
the bouncing energy release mechanism is used for accumulating potential energy when the bouncing legs (10) are opened, releasing the potential energy after the electromagnetic force between the electromagnet base (2) and the magnetic iron disc (5) disappears and driving the bouncing legs (10) to be closed and bounce;
the opening driving mechanism comprises electric push-pull rods (8) which are arranged in one-to-one correspondence with the bouncing legs (10), one ends of the electric push-pull rods (8) are respectively hinged with the bouncing legs (10), and the other ends of the electric push-pull rods are hinged with the magnetic iron disc (5) or the base (3);
the bouncing energy release mechanism comprises an extension spring (12) used for accumulating potential energy and releasing the potential energy;
the extension spring (12) is arranged between the two bouncing legs (10); or the like, or, alternatively,
the extension springs (12) and the bouncing legs (10) are arranged in a one-to-one correspondence manner, and the extension springs (12) are arranged between the bouncing legs (10) and the magnetic iron disc (5) or the base (3).
2. The electromagnetic release bouncing mechanism of claim 1, wherein: and the free end of the bouncing leg (10) is provided with a roller (9) which is matched with the electromagnet base (2) in a rolling way.
3. The electromagnetic release bouncing mechanism of claim 1, wherein: a support connecting rod (6) is arranged between the magnetic iron disc (5) and the base (3) for connection; or an adjusting mechanism for adjusting the height of the base (3) relative to the electromagnet base (2) is arranged between the electromagnet base (2) and the base (3).
4. An electromagnetic release hopping robot which is characterized in that: comprising an omnidirectional moving trolley (1) and an electromagnetic release bouncing mechanism according to any one of claims 1-3, wherein the electromagnet base (2) is arranged on the top surface of the omnidirectional moving trolley (1).
5. The utility model provides an electromagnetic release spring badminton robot which characterized in that: comprises the electromagnetic release bouncing robot as claimed in claim 4, wherein a badminton hitting mechanism is arranged on the base (3);
the badminton hitting mechanism comprises a large arm rotating shaft fixedly arranged on the base (3), a large arm (14) rotating synchronously is sleeved on the large arm rotating shaft, a small arm (17) coaxial with the large arm (14) is sleeved in the large arm (14), a wrist (19) is arranged at the top of the small arm (17), a wrist rotating shaft is arranged on the wrist (19), a racket handle holder (20) in rotating fit with the wrist rotating shaft is sleeved on the wrist rotating shaft, and a racket (21) is arranged on the racket handle holder (20);
the big arm rotating shaft and the wrist rotating shaft are both vertical to the rotating shaft of the small arm (17), and the space between the big arm rotating shaft and the wrist rotating shaft is vertical;
further comprises a big arm driving mechanism for driving the big arm (14) to rotate around the big arm horizontal rotating shaft, a small arm driving mechanism for driving the small arm (17) to rotate, and a wrist driving motor (18) for driving the racket handle holder (20) to rotate around the wrist horizontal rotating shaft.
6. The electromagnetic release bouncing badminton robot of claim 5, wherein: the large arm driving mechanism comprises a large arm driving motor (7) fixedly arranged on the magnetic iron disc (5) or the base (3), and an output shaft of the large arm driving motor (7) is in transmission connection with the large arm rotating shaft;
the small arm driving mechanism comprises a small arm driving motor (16) arranged in the large arm (14), and an output shaft of the small arm driving motor (16) is in transmission connection with the small arm (17);
the wrist driving mechanism comprises a wrist driving motor (18) arranged on the wrist (19), and an output shaft of the wrist driving motor (18) is in transmission connection with the wrist rotating shaft.
7. The electromagnetic release bouncing badminton robot of claim 6, wherein: omnidirectional movement dolly (1) adopts intelligent AGV dolly, be equipped with in the intelligent AGV dolly and be used for coming the ball to the target and carry out vision tracking, orbit fitting, the visual sensing system that the placement calculates and judges and be used for fixing a position intelligence AGV dolly fast travel to take off the navigation positioning system of place or landing place.
8. The electromagnetic release bouncing badminton robot of claim 7, wherein: still include control system, control system is including installing magnet disc (5) or control box (13) on base (3), be equipped with controller, wireless communication module in control box (13), be used for control the big arm motor control circuit of big arm driving motor (7) action, be used for control the forearm motor control circuit of forearm driving motor (16) action with be used for control the wrist motor control circuit of wrist driving motor (18) action, the controller with wireless communication module, big arm motor control circuit, forearm motor control circuit and wrist motor control circuit electricity are connected, just be equipped with in the intelligence AGV dolly with wireless communication module realizes wireless communication's wireless communication system.
CN201910863979.8A 2019-09-12 2019-09-12 Electromagnetic release bouncing robot, badminton robot and electromagnetic release bouncing mechanism Active CN110466635B (en)

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CN101244730B (en) * 2008-03-26 2010-06-09 西北工业大学 Power system of jump robot
CN201825146U (en) * 2010-05-31 2011-05-11 燕山大学 Bounce spherical robot equipped with stabilized bench
CN102363073B (en) * 2011-11-17 2014-01-08 中国科学院深圳先进技术研究院 Badminton partner training robot mechanism
CN103223984B (en) * 2013-05-14 2015-06-10 吉林大学 Energy storage jump mechanism for jump robot
CN103552617B (en) * 2013-11-04 2016-04-27 沈阳工业大学 There is the omnidirectional rolling spherical robot that stable platform can bounce
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