CN111730613A - Robot capable of throwing and throwing hydrangea in rotating manner - Google Patents
Robot capable of throwing and throwing hydrangea in rotating manner Download PDFInfo
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- CN111730613A CN111730613A CN202010562897.2A CN202010562897A CN111730613A CN 111730613 A CN111730613 A CN 111730613A CN 202010562897 A CN202010562897 A CN 202010562897A CN 111730613 A CN111730613 A CN 111730613A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/02—Games or sports accessories not covered in groups A63B1/00 - A63B69/00 for large-room or outdoor sporting games
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G31/00—Amusement arrangements
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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to the field of robots, in particular to an embroidered ball throwing robot which comprises a chassis module, a loading module, a throwing module, an electric control module, a ball frame and an embroidered ball, wherein the chassis module comprises a chassis frame and four power mechanisms, the loading module comprises a loading platform, a translation cylinder, a loading positioning cone and a lock tongue, the throwing module comprises a throwing frame, a throwing arm, a clamp and the like, and the ball frame comprises a ball frame rod, a ball frame bottom layer and a ball frame middle layer. The invention carries out targeted design on the throwing of the embroidery ball, utilizes the ball frame as a carrier of the embroidery ball, integrates the functions of moving, loading and throwing, moves through the mecanum wheel chassis, loads the ball frame in a cylinder pushing mode, and finishes the clamping and throwing of the embroidery ball by utilizing the flexibility of a rope and the structure of a rope knot of the embroidery ball, so that the machine can stably, accurately and quickly finish the clamping and throwing tasks.
Description
Technical Field
The invention relates to the technical field of motion robots, in particular to a robot for rotatably throwing and throwing hydrangeas.
Background
A traditional sports game of Guangxi Zhuang people in China is 'throwing embroidered ball'. This game has a long history and appeared for the first time on the wall paintings of the flowers and mountains drawn before 2000, but at that time arms cast in bronze were used for flinging, called "flying dolls", and were mostly used in battle and hunting. Later, people reformed the flying weight into an embroidery bag to throw and connect the flying weight with the embroidery bag for entertainment. In Song Dynasty, it gradually evolved into a medium for the young and the male of the Zhuang nationality to express love. Now, the "throwing hydrangea" is still in the areas of Guangxi Baise, Liuzhou, Nanning, river pool, etc.
With the rapid development of the current intelligent era, the robot has the tendency of being gradually applied to daily sports entertainment and competition activities of people, and a badminton robot, a basketball robot and a football robot exist at present, but no embroidered ball throwing robot special for occasions such as sports entertainment activities exists, and manual throwing is still used in the activities.
The invention designs a complete embroidery ball clamping and throwing robot, which is applied to the type entertainment activities or games such as embroidery balls and the like to realize the throwing of the embroidery balls at high speed and high precision.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and designs a robot for rotatably throwing an embroidery ball, which can automatically clamp and throw various balls such as the embroidery ball and the like so as to automatically throw the used balls at high speed and high precision in response to entertainment activities or competitions.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention discloses a robot for throwing an embroidered ball in a rotating way, which comprises a chassis module, a loading module, a throwing module, a ball rack and an embroidered ball; the chassis module comprises a chassis frame and a power mechanism for driving the chassis frame to move, and two aluminum square tubes for connecting the loading module are arranged on the left side of the chassis frame; the loading module comprises a translation mechanism and a loading positioning mechanism, the translation mechanism comprises a slide rail fixed on the aluminum square tube, a slide block matched with the slide rail to slide and a translation cylinder, the bottom of the translation cylinder is fixed on the chassis frame, and the tail end of a piston rod of the translation cylinder is connected with the side wall of the slide block; the top of the sliding block on two sides is provided with a fixed plate connected with the sliding block, the top of the fixed plate is provided with an electric turntable, and the axis of the electric turntable is connected with the output end of a motor at the bottom of the fixed plate; the loading positioning mechanism is arranged at the top of the electric turntable and is used for being positioned and connected with the bottom of the ball rack; the ball rack comprises a ball rack top layer, a ball rack middle layer, a ball rack bottom layer and a ball rack rod, wherein the ball rack bottom layer is fixed at the top of the loading positioning mechanism, the bottom of the ball rack rod is fixed in the middle of the upper surface of the ball rack bottom layer, the ball rack middle layer is fixed in the middle of the ball rack rod and used for placing the embroidered balls, and the ball rack top layer is fixed at the top of the ball rack rod; the throwing module comprises a rotating mechanism and a throwing frame, the throwing frame is fixed above the chassis frame, the rotating mechanism comprises a rotating motor and a throwing arm, the rotating motor is fixed at the top of the throwing frame, the upper end of the throwing arm is fixed at the output end of the rotating motor, and the other end of the throwing arm is connected with a clamp; embroidered ball is connected with the one end of tether, the other end of tether forms the monkey fist knot, the monkey fist knot articulate in on the fixed bayonet socket of ball rack top layer.
The LED lamp shade is characterized by further comprising an electric control module, wherein the electric control module comprises a single chip microcomputer, a circuit driving board, a coded disc and a camera, the camera is arranged at the bottom of the light shading plate, the light shading plate is fixed on the chassis frame through four supporting columns at the bottom of the light shading plate, and the coded disc is installed on the chassis frame.
The loading positioning mechanism comprises a lock tongue, a loading platform, positioning cones and manual shifting pieces, the loading platform is fixed at the top of the electric turntable, the positioning cones are fixed on two sides of the middle of the loading platform in a conical structure, lock tongue seats for the lock tongue to pass through are fixed at two ends of the upper surface of the loading platform, and the manual shifting pieces are fixed at the inner ends of the lock tongues; the lower surface both ends of ball rack bottom are equipped with the fixed foot of ball rack, fixed foot is square structure, is equipped with on its lateral wall to be used for spring bolt male lock tongue hole, the middle part both sides of ball rack bottom are equipped with to be used for location awl male locating hole.
The power mechanism comprises a suspension power mechanism and a non-suspension power mechanism, the suspension power mechanism comprises a driving motor, a shock absorber, a transmission shaft, a motor support and a Mecanum wheel, the motor support is installed on the chassis frame and internally provided with the driving motor, and an output shaft of the driving motor is connected with the Mecanum wheel through the transmission shaft.
The clamp comprises a clamp cylinder and a fixed seat, the rear wall of the fixed seat is fixed at the bottom end of the throwing arm, the clamp cylinder is fixed at the top of the fixed seat, and the end part of a piston rod of the clamp cylinder penetrates through the top of the fixed seat to be connected with the connecting plate; clamping arms hinged with the fixing seats are arranged on two sides of each fixing seat, a sliding hole used for sliding a pin shaft is formed in the middle of the front wall of each clamping arm, the sliding holes are obliquely arranged, and the middle of each pin shaft is hinged with two ends of each connecting plate; when the clamping arms on the two sides are clamped, a funnel-shaped clamping hole for clamping the tether is formed in the middle of the clamping arms.
The front end of the bottom of the clamping arm is provided with a guide piece, and when the clamping arm is clamped on two sides, the two guide pieces form a splayed tether inlet for guiding a tether.
The throwing frame is provided with a quick ball stabilizing mechanism, the quick ball stabilizing mechanism comprises a ball stabilizing base, a ball stabilizing motor, a ball stabilizing arm and a ball stabilizing ring, one end of the ball stabilizing base is fixed on the throwing frame, the ball stabilizing motor is fixed on the ball stabilizing base, an output shaft of the ball stabilizing base is connected with one end of the ball stabilizing arm, the other end of the ball stabilizing arm is connected with the ball stabilizing ring, the ball stabilizing ring is of an annular structure with one side open, and the direction of the opening of the ball stabilizing ring is the same as that of the rope inlet.
The ball stabilizing motor is fixed on the ball stabilizing base through a rotating support, the rotating support is of a square structure, the ball stabilizing motor is fixed on the rear wall of the ball stabilizing motor, a through hole for the output shaft of the ball stabilizing motor to pass through is formed in the side wall of the ball stabilizing motor, connecting pipes which are integrally formed with the rotating support are arranged at the front end and the rear end of the rotating support, the connecting pipe at the front end is hinged with the ball stabilizing base through a second pin shaft, the connecting pipe at the rear end is used for a fixing bolt to pass through, and a nut matched with the fixing bolt is arranged at the bottom of the rotating support; the rear end of the ball stabilizing base is provided with an arc-shaped sliding groove used for sliding of the fixing bolt.
The upper surface of the middle layer of the ball rack takes the ball rack rod as the center and is provided with a plurality of support frames for placing the embroidery balls, the support frames are of annular structures, the bottom of each support frame is provided with a support leg connected with the upper surface of the middle layer of the ball rack, and the inner diameter of each support frame is smaller than the outer diameter of each embroidery ball.
The embroidery ball and tether junction adopt trajectory nylon double-strand oxford cloth to consolidate, and inside is filled by the foam ball, and the ball surface layer is wrapped up in cloth inboard and is located the special flat sand bag of sewing up of ball bottom department, forms a tumbler configuration, embroidery ball all around respectively have a bundle of three strand colored ribbon with the bottom.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides power through the motor and the cylinder, utilizes the guide and positioning of the slide rail, realizes the vertical hovering of the throwing arm, realizes the clamping of the embroidered ball, and simultaneously realizes the throwing by utilizing the motor, the cylinder and the rotating mechanism. The designed robot can automatically clamp and throw the accessory embroidered balls or similar balls at high speed and high precision.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view of the present invention with the gas cylinder removed;
FIG. 3 is a partial cross-sectional view taken along A-A of FIG. 2;
FIG. 4 is a schematic structural view of a rotating mechanism according to the present invention;
FIG. 5 is a schematic view of a chassis module according to the present invention
FIG. 6 is a schematic structural diagram of a loading module according to the present invention;
FIG. 7 is a schematic view of the structure of the ball rack of the present invention;
FIG. 8 is a schematic view of the structure of the jig of the present invention;
fig. 9 is an exploded view of the ball stabilizing mechanism of the present invention.
Wherein: 1 chassis module, 11 chassis frame, 12 suspension power mechanism, 121 driving motor, 122 shock absorber, 123 transmission shaft, 124 motor support, 125 mecanum wheel, 13 non-suspension power mechanism, 14 aluminum square tube, 2 loading module, 21 translation mechanism, 211 translation cylinder, 212 slide block, 213 slide rail, 22 loading positioning mechanism, 221 latch, 222 loading platform, 223 positioning cone, 224 manual plectrum, 225 latch seat, 23 motor, 24 fixing plate, 25 electric turntable, 3 throw module, 31 rotation mechanism, 311 motor, 312 gas circuit rotary joint, 313 crossed roller bearing, 314 throw arm, 32 throw frame, 4 clamp, 41 clamp cylinder, 42 fixing seat, 43 connecting plate, 44 clamping arm, 45 pin shaft, 46 slide hole, 47 guide sheet, 48 funnel-shaped clamping hole, 5 ball frame, 51 ball frame top layer, 52 ball frame middle layer, 53 ball frame bottom layer, 54 ball frame fixing foot, 55 ball frame rod, 56 locating holes, 6 embroidered balls, 61 tether, 62 monkey fist knot, 7 quick ball stabilizing mechanism, 71 ball stabilizing base, 72 ball stabilizing motor, 73 ball stabilizing arm, 74 ball stabilizing ring, 75 rotating support, 76 connecting pipe, 77 arc-shaped chute, 8 code disc, 9 camera light screen, 10 protective frame.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments of the present invention are described in detail below with reference to fig. 1 to 9, and many details are set forth in the following description to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein as a direct or indirect use, and many modifications may be made by one skilled in the art without departing from the spirit and scope of the invention.
The invention discloses a robot for throwing an embroidery ball in a rotating way, which comprises a chassis module 1, a loading module 2, a throwing module 3, a ball rack 5 and an embroidery ball 6, wherein the chassis module 1 is arranged on the upper surface of the loading module; the chassis module 1 comprises a chassis frame 11 and a power mechanism for driving the chassis frame to move, and two aluminum square tubes 14 for connecting the loading module 2 are arranged on the left side of the chassis frame 11;
as shown in fig. 6, the loading module 2 includes a translation mechanism 21 and a loading positioning mechanism 22, the translation mechanism 21 includes a slide rail 213 fixed on the aluminum square tube 14, a slide block 212 sliding in cooperation with the slide rail 213, and a translation cylinder 211, a bottom of the translation cylinder 211 is fixed on the chassis frame 11, and a distal end of a piston rod of the translation cylinder is connected to a side wall of the slide block 212; the top of the sliding block 212 on two sides is provided with a fixed plate 24 connected with the top, the top of the fixed plate 24 is provided with an electric turntable 25, and the axis of the electric turntable 25 is connected with the output end of a motor 23 at the bottom of the fixed plate 24; the loading positioning mechanism 22 is arranged at the top of the electric turntable 25 and is used for being positioned and connected with the bottom of the ball rack 5, the sliding block 212 is driven by the translation cylinder 211 to slide along the sliding rail 213, namely to move along the direction of the aluminum square tube 14, and the fixing plate 24 and the electric turntable 25 which are connected with the sliding block 212 are driven to move, so that the translation and the rotation of the loading positioning mechanism 22 fixed on the electric turntable 25 are realized;
as shown in fig. 7, the rack 5 includes a rack top layer 51, a rack middle layer 52, a rack bottom layer 53 and rack bars 55, the rack bottom layer 53 is fixed on the top of the loading and positioning mechanism 22, the bottom of the rack bars 55 is fixed in the middle of the upper surface of the rack bottom layer 53, the rack middle layer 52 is fixed in the middle of the rack bars 55 for placing the embroidery balls 6, the rack top layer 51 is fixed on the top of the rack bars 55, the rack bottom layer 53 is fixed on the top of the loading and positioning mechanism 22 and follows it to perform translation and rotation, the embroidery balls 6 are placed on the rack middle layer 52, and the tether 61 connected with the embroidery balls is lapped on the rack top layer 51;
as shown in fig. 1 to 4, the throwing module 3 includes a rotating mechanism 31 and a throwing frame 32, the throwing frame 32 is fixed above the chassis frame 11, the rotating mechanism 31 includes a rotating motor 311 and a throwing arm 314, the rotating motor 311 is fixed on the top of the throwing frame 32, the upper end of the throwing arm 314 is fixed on the output end of the rotating motor 311, and the other end is connected with a clamp 4; embroidered ball 6 is connected with the one end of tether 61, the other end of tether 61 forms monkey knot 62, monkey knot 62 articulate in on the fixed bayonet socket of ball frame top layer 51, when ball frame 5 translation to suitable position, then electric turntable 25 clockwise rotation can be with anchor clamps 4 centre gripping tether 61, later through rotary mechanism 31 rotation, drive the swing of throwing frame 32, when swing to suitable position, open anchor clamps 4, can throw embroidered ball 6.
The automatic clamp device is characterized by further comprising an electric control module, wherein the electric control module comprises a single chip microcomputer, a circuit driving board, a coded disc 8 and a camera, the camera is arranged at the bottom of the light shielding plate 9, the light shielding plate 9 is fixed on the chassis frame 11 through four supporting columns at the bottom of the light shielding plate 9, the coded disc 8 is installed on the chassis frame 11, the electric control module comprises the single chip microcomputer stm32F407ZGTx and a circuit board thereof, the coded disc 8 and the camera, the camera is installed below the light shielding plate 9 at the right side of the chassis frame 11, the coded disc 8 is installed at the bottom of the chassis frame 11, the circuit board provided with the single chip microcomputer is installed, and; and an external code disc and a camera are also arranged, wherein the process of calculating and processing the data to realize the function of the robot is well known by the technical personnel in the field.
As shown in fig. 6, the loading positioning mechanism 22 includes a lock tongue 221, a loading platform 222, positioning cones 223 and a manual shifting piece 224, the loading platform 222 is fixed on the top of the electric turntable 25, the positioning cones 223 are fixed on two sides of the middle of the loading platform 222 in a cone-shaped structure, a lock tongue seat 225 for the lock tongue 221 to pass through is fixed on two ends of the upper surface of the loading platform 222, and the manual shifting piece 224 is fixed on the inner end of the lock tongue 221; the two ends of the lower surface of the ball rack bottom layer 53 are provided with ball rack fixing feet 54, the fixing feet 54 are of square structures, the side walls of the fixing feet are provided with bolt locking holes for inserting the bolt 221, the two sides of the middle part of the ball rack bottom layer 53 are provided with positioning holes 56 for inserting the positioning cones 223, positioning is realized through the matching of the positioning cones 223 and the positioning holes 56, the assembly efficiency between the positioning cones 223 and the positioning holes 56 is improved, and the assembly precision is ensured; then, the manual shifting piece 224 pushes the lock tongue 221 to move along the lock groove of the lock tongue seat 225, so that the lock tongue 221 extends out of the lock tongue hole in the rack fixing leg 54, the locking of the rack 5 and the loading positioning mechanism 22 is realized, and the two are prevented from being separated in the working process, so that the assembly is convenient, and the installation and the disassembly are convenient.
As shown in fig. 5, the power mechanism comprises a suspended power mechanism 12 and a non-suspended power mechanism 13, the suspended power mechanism 12 comprises a driving motor 121, a shock absorber 122, a transmission shaft 123, a motor support 124 and a mecanum wheel 125, the motor support 124 is mounted on the chassis frame 11, a driving motor 121 is arranged in the motor support 124, an output shaft of the driving motor 121 is connected with the mecanum wheel 125 through the transmission shaft 123, the mecanum wheel omni-directional movement mode is based on the principle that a central wheel is provided with a plurality of wheel shafts located at the periphery of the wheels, and the wheel shafts are angled to convert a part of the wheel steering force to a wheel normal force; depending on the direction and speed of the respective wheels, the resulting combination of these forces produces a resultant force vector in any desired direction thereby ensuring that the platform is free to move in the direction of the resultant force vector without changing the direction of the wheels themselves. On its rim, many small rollers are obliquely distributed, so that the wheel can be transversely slided. The generatrix of the small rollers is particularly so that the envelope of each small roller is cylindrical when the wheel is turned around a fixed wheel spindle, so that the wheel can roll forward continuously. The Mecanum wheel has compact structure and flexible movement, and is a very successful omnidirectional wheel. 4 novel wheels are combined, so that the omnibearing moving function can be realized more flexibly and conveniently; the suspension power mechanism 12 is provided with a suspension system consisting of a shock absorber 122 and a transmission shaft 123, and is used for transmitting force and torque acting between wheels and a frame, buffering impact force transmitted to a frame or a machine body from an uneven road surface, and attenuating vibration caused by the impact force so as to ensure that the robot can run stably; the non-suspension power mechanism 13 is not provided with a suspension system, so that the cost is saved, and a protective frame 10 for protecting the Mecanum wheels 125 is further arranged on the right side of the chassis frame 11.
As shown in fig. 3 and 8, the clamp 4 includes a clamp cylinder 41 and a fixed seat 42, the rear wall of the fixed seat 42 is fixed to the bottom end of the throwing arm 314, the clamp cylinder 41 is fixed to the top of the fixed seat 42, and the end of the piston rod passes through the top of the fixed seat 42 and is connected to the connecting plate 43; clamping arms 44 hinged with the fixing seat 42 are arranged on two sides of the fixing seat 42, a sliding hole 46 used for a pin 45 to slide is formed in the middle of the front wall of each clamping arm 44, the sliding hole 46 is arranged in an inclined mode, and the middle of each pin 45 is hinged with two ends of the connecting plate 43; when the clamping arms 44 on two sides are clamped, a funnel-shaped clamping hole 48 for clamping the tether 61 is formed in the middle of the clamping arms, and the working principle is as follows: when the clamping arms 44 at the two sides are required to be clamped, the piston rods of the clamp cylinders 41 extend out to drive the connecting plate 43 to move downwards, the pin shafts 45 hinged with the two ends of the connecting plate 43 slide towards the bottom end of the outer side of the connecting plate along the sliding holes 46, the clamping arms 44 at the two sides are clamped at the moment, and the funnel-shaped clamping holes 48 for clamping the monkey fist knot 62 are formed in the middle of the clamping arms; when the clamping arms 44 on the two sides need to be separated and the embroidery ball 6 is thrown out, the piston rod of the clamp cylinder 41 contracts to drive the connecting plate 43 to move upwards, the pin shafts 45 hinged with the two ends of the connecting plate move towards the top end of the inner side of the connecting plate along the sliding holes 46, and the distance between the top ends of the inner sides of the two sliding holes 46 is smaller than the distance between the bottom ends of the outer sides of the two sliding holes 46, so that the separation of the clamping arms 44 on the two sides is.
The front end of the bottom of the clamping arm 44 is provided with a guide piece 47, when the clamping arm 44 is clamped on two sides, the two guide pieces 47 are combined to form a splayed tether inlet for leading the tether 61, the ball frame 5 is moved to a position close to a proper position through the splayed tether inlet, the tether 61 can enter the clamping arm 44 through the tether inlet, the required precision is low, and the clamping of the clamp 4 on the embroidery ball 6 is facilitated.
As shown in fig. 9, a fast ball stabilizing mechanism 7 is provided on the throwing frame 32, the fast ball stabilizing mechanism 7 includes a ball stabilizing base 71, a ball stabilizing motor 72, a ball stabilizing arm 73 and a ball stabilizing ring 74, one end of the ball stabilizing base 71 is fixed on the throwing frame 32, the ball stabilizing motor 72 is fixed on the ball stabilizing base 71, the output shaft of the ball stabilizing arm is connected with one end of the ball stabilizing arm 73, the other end of the ball stabilizing arm 73 is connected with the ball stabilizing ring 74, the ball stabilizing ring 74 is in an annular structure with an opening at one side, the direction of the opening is the same as the direction of the tether entrance, and when the tether 61 enters the jig 4 through the tether entrance, due to the rotation of the ball rack 5, the embroidery ball 6 will swing due to inertia, at this time, the output shaft of the ball stabilizing motor 72 rotates clockwise, the ball stabilizing ring 74 is pressed down to stop the swing of the embroidery ball 6, so that the throwing arm 314 can stably throw the embroidery ball 6.
Further, the ball stabilizing motor 72 is fixed on the ball stabilizing base 71 through a rotating bracket 75, the rotating bracket 75 is of a square structure, the ball stabilizing motor 72 is fixed on the rear wall of the ball stabilizing motor 72, a through hole for the output shaft of the ball stabilizing motor 72 to pass through is formed in the side wall of the ball stabilizing motor, connecting pipes 76 formed integrally with the rotating bracket 75 are arranged at the front end and the rear section of the rotating bracket 75, the connecting pipe 76 at the front end is hinged with the ball stabilizing base 71 through a second pin shaft, the connecting pipe 76 at the rear end is used for a fixing bolt to pass through, and a nut matched with the fixing bolt is arranged at the bottom of the rotating bracket; the rear end of steady ball base 71 is equipped with and is used for the gliding arc spout 77 of fixing bolt, the second round pin axle inserts the shaft hole of connecting pipe 76 and the fixed orifices on the steady ball base 71 in proper order, make the connecting pipe 76 of rotating bracket 75 rear end can use the second round pin axle as the axle center, remove along arc spout 77, when removing to suitable position, fix through fixing bolt, the nut, thereby can adjust the position of steady ball ring 74, when guaranteeing steady ball ring 74 and pushing down, just in time can be located the 6 tops of embroidered ball, and guarantee that the opening of steady ball ring 74 is the same with tether open-ended direction.
As shown in fig. 7, a plurality of support frames 57 for placing the embroidery ball 6 are arranged on the upper surface of the ball frame middle layer 52 in an annular array with the ball frame rod 55 as the center, the support frames 57 are in an annular structure, support legs connected with the upper surface of the ball frame middle layer 52 are arranged at the bottoms of the support frames 57, the inner diameter of the support frames 57 is smaller than the outer diameter of the embroidery ball 6, and the support frames 57 are arranged to ensure that the embroidery ball 6 cannot fall off in the processes of translation and rotation along with the ball frame 5; meanwhile, when the clamp 4 clamps the tether 61, the embroidery ball 6 can be easily separated from the support bracket 57.
As shown in fig. 1 and 2, the joint of the embroidery ball 6 and the tether 61 is reinforced by ballistic nylon double-strand oxford cloth, the interior of the embroidery ball is filled with foam balls, a special flat sand bag is sewn on the ball bottom at the inner side of the cloth wrapped on the surface layer of the ball to form a tumbler configuration, and the periphery and the bottom of the embroidery ball 6 are respectively provided with a bundle of three-strand colored ribbons.
The robot work flow is as follows:
the single chip microcomputer of the electric control module enables the driving motor 121 to rotate to drive the mecanum wheel 125 to rotate according to the pre-loaded program, so that the chassis module 1 moves according to the corresponding track, meanwhile, the output correction is carried out constantly according to the information fed back by the code disc 8 to ensure the accuracy of the path of the robot, and the robot goes to the place to throw the embroidery ball.
When the robot approaches a target, the camera identifies field information and detects the pose according to a visual algorithm, the electric control module drives four driving motors 121 according to data fed back by the camera, the position of the robot chassis module 1 is finely adjusted to ensure that two ball frames with different heights are accurately thrown in three different throwing areas of the field, and the fact that an embroidery ball thrown in the farthest throwing area falls into a disc behind the ball frames is ensured not to bounce.
Firstly, the rotating mechanism 31 drives the throwing arm 314 to rotate clockwise for a certain distance, meanwhile, the translation cylinder 211 in the loading module 2 pushes the slider 212 to make the fixing plate 24 move leftwards to drive the ball rack 5 to translate, when an embroidery ball 6 of the ball rack 5 moves to the front of the clamp 4, the electric turntable 25 rotates clockwise to make the monkey fist knot 62 on the tether 61 of the embroidery ball 6 be clamped with the funnel-shaped clamping hole 48 on the clamp 4; then the throwing arm 314 is suspended at a fixed position, the translation cylinder 211 moves rightwards, the embroidery ball 6 is separated from the ball frame 5, and the picking of the embroidery ball 6 is finished; then, the ball stabilizing motor 72 is started to drive the ball stabilizing ring 74 to press downwards so that the embroidery ball 6 stops swinging, the throwing arm 314 is driven to swing through the rotating mechanism 31, when the throwing arm swings to a proper position, the piston rod of the clamp cylinder 41 contracts, the clamping arm 44 separately contacts the clamping of the monkey fist knot 62, and the throwing action of the embroidery ball 6 is completed; after the throwing action is finished, the loading module 2 is started again, automatically rotates to the angle of the embroidery ball 6 which is not clamped on the ball rack 5, and the clamp 4 clamps the embroidery ball 6 again. By parity of reasoning, the robot can complete continuous throwing action.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent modifications made by the present invention and the contents of the drawings or directly or indirectly applied to the related technical fields are included in the scope of the present invention.
Claims (10)
1. An embroidery ball throwing robot is characterized by comprising a chassis module (1), a loading module (2), a throwing module (3), a ball rack (5) and an embroidery ball (6);
the chassis module (1) comprises a chassis frame (11) and a power mechanism for driving the chassis frame to move, and two aluminum square tubes (14) for connecting the loading module (2) are arranged on the left side of the chassis frame (11);
the loading module (2) comprises a translation mechanism (21) and a loading positioning mechanism (22), the translation mechanism (21) comprises a slide rail (213) fixed on the aluminum square tube (14), a slide block (212) matched with the slide rail (213) to slide and a translation cylinder (211), the bottom of the translation cylinder (211) is fixed on the chassis frame (11), and the tail end of a piston rod of the translation cylinder is connected with the side wall of the slide block (212); the top of the sliding block (212) on two sides is provided with a fixing plate (24) connected with the sliding block, the top of the fixing plate (24) is provided with an electric rotating disc (25), and the axis of the electric rotating disc (25) is connected with the output end of a motor (23) at the bottom of the fixing plate (24); the loading positioning mechanism (22) is arranged at the top of the electric turntable (25) and is used for positioning and connecting with the bottom of the ball rack (5);
the ball frame (5) comprises a ball frame top layer (51), a ball frame middle layer (52), a ball frame bottom layer (53) and ball frame rods (55), the ball frame bottom layer (53) is fixed to the top of the loading positioning mechanism (22), the bottoms of the ball frame rods (55) are fixed to the middle of the upper surface of the ball frame bottom layer (53), the ball frame middle layer (52) is fixed to the middle of the ball frame rods (55) and used for placing the embroidery balls (6), and the ball frame top layer (51) is fixed to the tops of the ball frame rods (55);
the throwing module (3) comprises a rotating mechanism (31) and a throwing frame (32), the throwing frame (32) is fixed above the chassis frame (11), the rotating mechanism (31) comprises a rotating motor (311) and a throwing arm (314), the rotating motor (311) is fixed at the top of the throwing frame (32), the upper end of the throwing arm (314) is fixed at the output end of the rotating motor (311), and the other end of the throwing arm is connected with a clamp (4);
embroidered ball (6) are connected with the one end of tether (61), the other end of tether (61) forms monkey fist knot (62), monkey fist knot (62) articulate in on the fixed bayonet socket of ball rack top layer (51).
2. The robot for rotary throwing of the embroidered ball is characterized by further comprising an electric control module, wherein the electric control module comprises a single chip microcomputer, a circuit driving board, a code disc (8) and a camera, the camera is arranged at the bottom of a light shielding plate (9), the light shielding plate (9) is fixed on the chassis frame (11) through four supporting columns at the bottom of the light shielding plate, and the code disc (8) is installed on the chassis frame (11).
3. The robot for rotary throwing of an embroidery ball according to claim 2, wherein the loading positioning mechanism (22) comprises a locking tongue (221), a loading platform (222), a positioning cone (223) and a manual shifting piece (224), the loading platform (222) is fixed on the top of the electric rotating disc (25), the positioning cone (223) is fixed on two sides of the middle of the loading platform (222) in a conical structure, two ends of the upper surface of the loading platform (222) are fixed with a locking tongue seat (225) for the locking tongue (221) to pass through, and the manual shifting piece (224) is fixed on the inner end of the locking tongue (221); the lower surface both ends of ball frame bottom layer (53) are equipped with ball frame fixed foot (54), fixed foot (54) are square structure, are equipped with on its lateral wall to be used for spring bolt (221) male lock tongue hole, the middle part both sides of ball frame bottom layer (53) are equipped with to be used for location awl (223) male locating hole (56).
4. The robot for rotary throwing of an embroidered ball of claim 1 is characterized in that the power mechanism comprises a suspension power mechanism (12) and a non-suspension power mechanism (13), the suspension power mechanism (12) comprises a driving motor (121), a shock absorber (122), a transmission shaft (123), a motor support (124) and a Mecanum wheel (125), the motor support (124) is mounted on the chassis frame (11) and is internally provided with the driving motor (121), and an output shaft of the driving motor (121) is connected with the Mecanum wheel (125) through the transmission shaft (123).
5. The robot for rotary throwing of an embroidery ball according to claim 1, wherein the clamp (4) comprises a clamp cylinder (41) and a fixed seat (42), the rear wall of the fixed seat (42) is fixed at the bottom end of the throwing arm (314), the clamp cylinder (41) is fixed at the top of the fixed seat (42), and the end part of the piston rod of the clamp cylinder penetrates through the top of the fixed seat (42) to be connected with a connecting plate (43); clamping arms (44) hinged with the fixing seat (42) are arranged on two sides of the fixing seat (42), a sliding hole (46) used for a pin shaft (45) to slide is formed in the middle of the front wall of each clamping arm (44), the sliding holes (46) are obliquely arranged, and the middle of each pin shaft (45) is hinged with two ends of the connecting plate (43); when the clamping arms (44) on the two sides are clamped, funnel-shaped clamping holes (48) for clamping the tether (61) are formed in the middle of the clamping arms.
6. The robot for rotary throwing of an embroidery ball according to claim 5, wherein the front end of the bottom of the clamping arm (44) is provided with a guide piece (47), and when the clamping arms (44) are clamped at both sides, the two guide pieces (47) are combined into a splayed tether inlet for leading in a tether (61).
7. The robot for rotary throwing of an embroidered ball according to claim 6, wherein the throwing frame (32) is provided with a quick ball stabilizing mechanism (7), the quick ball stabilizing mechanism (7) comprises a ball stabilizing base (71), a ball stabilizing motor (72), a ball stabilizing arm (73) and a ball stabilizing ring (74), one end of the ball stabilizing base (71) is fixed on the throwing frame (32), the ball stabilizing motor (72) is fixed on the ball stabilizing base (71), an output shaft of the ball stabilizing motor is connected with one end of the ball stabilizing arm (73), the other end of the ball stabilizing arm (73) is connected with the ball stabilizing ring (74), the ball stabilizing ring (74) is of an annular structure with an opening at one side, and the opening direction of the ball stabilizing ring is the same as the direction of the tether inlet.
8. The robot for rotary throwing of an embroidery ball according to claim 7, wherein the ball stabilizing motor (72) is fixed on the ball stabilizing base (71) through a rotating bracket (75), the rotating bracket (75) is of a square structure, the ball stabilizing motor (72) is fixed on the rear wall of the ball stabilizing base, through holes for the output shaft of the ball stabilizing motor (72) to pass through are formed in the side wall of the ball stabilizing motor, connecting pipes (76) formed integrally with the front end and the rear section of the rotating bracket (75) are arranged at the front end, the connecting pipe (76) at the front end is hinged with the ball stabilizing base (71) through a second pin shaft, the connecting pipe (76) at the rear end is used for a fixing bolt to pass through, and a nut matched with the fixing bolt is arranged at the bottom of the rotating bracket (75); the rear end of the ball stabilizing base (71) is provided with an arc-shaped sliding groove (77) for the sliding of the fixing bolt.
9. The robot for rotary throwing of an embroidery ball according to claim 1, wherein a plurality of support frames (57) for placing the embroidery ball (6) are arranged on the upper surface of the middle layer (52) of the ball frame in an annular array with the ball frame rod (55) as the center, the support frames (57) are in an annular structure, support legs connected with the upper surface of the middle layer (52) of the ball frame are arranged at the bottom of the support frames (57), and the inner diameter of each support frame (57) is smaller than the outer diameter of the embroidery ball (6).
10. The robot for rotary throwing of the hydrangea according to claim 1, wherein the joint of the hydrangea (6) and the tether (61) is reinforced by ballistic nylon double-strand oxford cloth, the interior of the hydrangea is filled with foam balls, a special flat sand bag is sewn on the ball bottom at the inner side of the cloth wrapped on the surface layer of the ball, a tumbler configuration is formed, and a bundle of three-strand colored ribbons are respectively arranged on the periphery and the bottom of the hydrangea (6).
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| CN202010562897.2A CN111730613B (en) | 2020-06-19 | 2020-06-19 | Robot capable of throwing and throwing hydrangea in rotating manner |
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| CN202010562897.2A CN111730613B (en) | 2020-06-19 | 2020-06-19 | Robot capable of throwing and throwing hydrangea in rotating manner |
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