CN112386886A - Table tennis ball picking and distributing integrated device - Google Patents
Table tennis ball picking and distributing integrated device Download PDFInfo
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- CN112386886A CN112386886A CN202011362457.9A CN202011362457A CN112386886A CN 112386886 A CN112386886 A CN 112386886A CN 202011362457 A CN202011362457 A CN 202011362457A CN 112386886 A CN112386886 A CN 112386886A
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- table tennis
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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
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
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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
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
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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
- A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
- A63B2102/16—Table tennis
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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
An integrated table tennis ball picking and distributing device, comprising: the device comprises a base, a control part, an emitting part, a grabbing part, a visual identification part and a supporting part; the control part and the supporting part are respectively arranged on the base, the emitting part is arranged on the supporting part, the grabbing part is movably arranged in a manner of being matched with the emitting part, and the visual identification part is movably arranged in a manner of being matched with the grabbing part and the emitting part; the control part controls the base to move based on the identification information of the visual identification part so as to identify the table tennis to be captured, controls the capturing part to capture the table tennis according to the identification result, and controls the capturing part to transfer the captured table tennis to the launching part; the control part controls the base to move to recognize a target position based on the recognition information of the visual recognition part, controls the base to move to a position which is a preset distance away from the target position according to a recognition result, adjusts the posture direction of the base so as to adjust the emission direction of the emission part to a target emission direction, and controls the emission part to emit the table tennis ball to the target position in the target emission direction. The device has simple and compact structure and high working efficiency.
Description
Technical Field
The invention relates to the technical field of material sorting, in particular to a table tennis ball picking and sending integrated device.
Background
Traditional material sorting adopts artifical letter sorting, along with intelligent development, has appeared on the market and has adopted the manipulator to carry out material sorting, at the in-process of material sorting, relates to and snatchs the material, and place the target location with the material to the table tennis is the example, adopts the manipulator to snatch the table tennis, places the target location with the table tennis that snatchs again, and this kind of intelligent implementation has two kinds of implementation at present, and first implementation is: when the mechanical arm with the integrated structure is used, the integrated structure is driven to move until the mechanical arm grabs the table tennis, then the integrated structure is driven to move to a target position, and the table tennis is released to the target position; the second embodiment is: the gripping device is used for gripping table tennis balls and conveying the gripped table tennis balls to the conveying device, and the conveying device is used for conveying the gripped table tennis balls to a target position.
In practical application, the first implementation mode needs to control the integrated structure to reciprocate between the ping-pong capturing position and the target placing position, so that the operation time is long, and the working efficiency is low; although the second implementation mode can improve the working efficiency, the gripping device and the transmission device are separately arranged, the integration level of the separate structure is low, and the occupied space is large.
Disclosure of Invention
To the defect that table tennis was picked up and is sent out, this application provides a table tennis is picked up and is sent out integrated device, picks up, sends out integrated design, has the integrated level height, simple structure compactness, characteristics that work efficiency is high.
The technical scheme of the invention is as follows:
the invention provides a table tennis ball picking and sending integrated device which comprises a base, a control part, a launching part, a grabbing part, a visual identification part and a supporting part, wherein the base is provided with a base seat;
the base is a carrier for supporting the control part, the emission part, the grabbing part, the visual recognition part and the supporting part, wherein the control part and the supporting part are respectively arranged on the base, the emission part is arranged on the supporting part, the grabbing part is movably arranged in a manner of being matched with the emission part, and the visual recognition part is movably arranged in a manner of being matched with the grabbing part and the emission part;
the control part is respectively in signal connection with the base, the emitting part, the grabbing part and the visual identification part, the control part controls the base to move based on the identification information of the visual identification part so as to identify the table tennis to be grabbed, controls the grabbing part to grab the table tennis according to the identification result, and controls the grabbing part to transfer the grabbed table tennis to the emitting part;
the control part controls the base to move to identify a target position based on the identification information of the visual identification part, controls the base to move to a position which is a preset distance away from the target position according to an identification result, adjusts the posture direction of the base so as to adjust the emission direction of the emission part to a target emission direction, and controls the emission part to emit the table tennis ball in the target emission direction so as to emit the table tennis ball to the target position.
Further preferably, the transmitting portion includes: the device comprises a launching cavity, a launching rod driving mechanism, a launching body and a launching body driving mechanism;
the emission cavity is arranged on the supporting part and comprises a cavity body in a hollow structure and an emission end in a conical body;
the emission rod and the emission rod driving mechanism are installed in a matched mode with the cavity, the free end of the emission rod is located in the cavity, the emission rod driving mechanism is in signal connection with the control portion, and the control portion controls the emission rod driving mechanism to drive the emission rod to move in the cavity;
the emitter and the emitter driving mechanism are matched with the cavity to be installed, wherein the emitter is symmetrically arranged at two sides of the cavity close to the emitting end, part of the emitter is connected with a hollow part on the side surface of the cavity, so that a non-hollow part of the cavity corresponding to the installation position of the part of the emitter and the emitting end forms an emitting channel, the emitter driving mechanism is in signal connection with the control part, and the control part controls the emitter driving mechanism to drive the emitter to do circular rotation motion relative to the cavity according to the preset distance;
when the control part controls the launching rod driving mechanism to drive the launching rod to push the table tennis balls in the cavity to the launching channel, the launching body drives the table tennis balls to move to the launching end through rotary motion and launch the table tennis balls.
Further preferably, the launching rod comprises a sliding part arranged outside the cavity in a sliding manner and a pushing part extending into the cavity, and the sliding part and the pushing part are integrally formed into a v-21274;
the sliding part is provided with a rack;
the launching rod driving part comprises a gear meshed with the rack and a driving part for driving the gear;
the driving part drives the gear to drive the sliding part to move relative to the cavity, so that the pushing part moves in the cavity.
Further preferably, one surface of the emitting body, which is contacted with the table tennis ball, is concave, the emitting bodies are symmetrically arranged on two sides of the cavity, and the concave surfaces of the emitting bodies on the two sides are used for wrapping the table tennis ball.
Further preferably, the gripping part comprises a mechanical arm and a gripper;
the mechanical arm is arranged at the bottom of the cavity and is close to the transmitting end;
the hand grip is arranged at the tail end of the mechanical arm in a matching way;
the matching installation structure of the mechanical arm and the gripper is in an inward hook shape relative to the cavity;
the hand grip is matched with the hollow part at the bottom of the cavity, when the mechanical arm drives the hand grip to extend into the cavity through the hollow part at the bottom of the cavity, the unfolding state of the hand grip is connected with the cavity and the launching channel, so that the hand grip and the launching channel form a motion channel of the table tennis to be launched.
Further preferably, the tongs comprise clamping plates which are of symmetrical structures and are of concave structures and gears which are matched with the clamping plates of symmetrical structures and are meshed with each other, and the symmetrical clamping plates are driven to clamp or open through the meshed gears.
Further preferably, one surface of the splint contacted with the table tennis ball is elastic.
Further preferably, the support part is movably mounted relative to the base, and the support part tilts forwards along with the forward movement of the grabbing part in the process of grabbing the table tennis ball by the grabbing part.
Further preferably, the integrated device further comprises an anti-tilting portion, wherein the anti-tilting portion is matched with the base and used for preventing the integrated device from tilting forwards when the grabbing portion or/and the emitting portion work.
Further preferably, the support device further comprises an auxiliary part, the auxiliary part is installed in cooperation with the support part, and the auxiliary part is used for assisting the support part to reset when the support part tilts forwards.
The table tennis ball picking and sending integrated device according to the embodiment has at least one of the following beneficial effects:
1) through with control part, transmission portion, snatch portion, visual identification portion and supporting part integrated installation on the base, make the integrated design of picking up, sending of table tennis, improved the integrated level of picking up, sending.
2) In the process of table tennis ball launching, the base is moved to the position away from the target position by the aid of the table tennis ball launching device and the table tennis ball is launched by the aid of the table tennis ball launching device, compared with the traditional table tennis ball launching device which moves to the target position and releases the table tennis ball, the moving stroke of the base to the target position is greatly shortened, accordingly, moving time between the base and the target position is saved, and working efficiency of table tennis ball picking and launching is improved.
3) The cavity of launching chamber adopts hollow out construction design, and the bottom fretwork part of cavity forms the motion passageway of table tennis in the cavity with the tongs phase-match of portion of grabbing for the table tennis that this application provided picks up and sends integrated device simple structure, compactness, miniaturization.
4) The cavity of the launching cavity is designed to be a hollow structure, the launching body is connected with the hollow part on the side face of the cavity, the non-hollow part of the cavity corresponding to the installation position where the launching body is located and the launching end form a launching channel, the launching initial speed of the table tennis ball is controlled by controlling the circumferential rotation speed of the launching body, and further the table tennis ball can be controlled to be launched to a target position more accurately.
5) The launching end of the launching cavity adopts a conical design, and a conical opening allows enough offset allowance for the launching of the table tennis.
6) The one side that emitter and table tennis contacted is the concave surface form, the emitter symmetry set up in during the both sides of cavity, the concave surface of both sides emitter symmetry is used for wrapping up the table tennis, increases the contact surface of emitter and table tennis, improves the frictional force between emitter and the table tennis for the transmission of table tennis is more stable, more accurate.
7) The tongs of portion of snatching adopts the symmetry splint of meshing structure, and the splint is elasticity with the one side of table tennis contact, prevents that the centre gripping from excessively causing the damage to the table tennis.
Drawings
FIG. 1 is a schematic structural view of a table tennis ball picking and launching integrated device;
FIG. 2 is a schematic view of a base structure;
FIG. 3 is a schematic view of the engagement structure of the grasping portion and the emitting portion;
FIG. 4 is a schematic view of the structure of the emitting part;
FIG. 5 is a schematic diagram of a chamber structure;
FIG. 6 is another structural view of the chamber;
FIG. 7 is a schematic view of a firing rod configuration;
FIG. 8 is a schematic view of a firing rod drive mechanism;
FIG. 9 is a schematic diagram of an emitter structure;
FIG. 10 is a schematic view of the grasping portion;
FIG. 11 is a schematic view of a grip;
fig. 12 is another structural schematic view of the grip structure.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
The application provides a table tennis picks up sends integrated device is based on the inspiration of the firing mechanism of rifle and shot gun and designs, integrates the dispersion mechanism (ball device, transmission device, emitter) of traditional ball mechanism of picking up through the thought of integration, realizes the integrated structure. Based on this concept, the integrated device provided in the present application will be described in detail below.
As shown in fig. 1, the table tennis ball-tying and-firing integrated device provided by the present application includes: the base 100, the control part 200, the emitting part 300, the grasping part 400, the visual recognition part 500, and the support part 600.
The base 100 is a carrier for supporting the control part 200, the emitting part 300, the grabbing part 400, the visual recognition part 500 and the supporting part 600, wherein the control part 200 and the supporting part 600 are respectively installed on the base 100, the emitting part 300 is installed on the supporting part 600, the grabbing part 400 is movably installed in cooperation with the emitting part 300, and the visual recognition part 500 is movably installed in cooperation with the grabbing part 400 and the emitting part 300; the control part 200 is respectively in signal connection with the base 100, the launching part 300, the grabbing part 400 and the visual recognition part 500, the control part 200 controls the base 100 to move to recognize the table tennis to be grabbed based on the recognition information of the visual recognition part 500, controls the grabbing part 400 to grab the table tennis according to the recognition result, and controls the grabbing part 400 to transfer the grabbed table tennis to the launching part 300; the control part 200 controls the base 100 to move to recognize a target position based on the recognition information of the visual recognition part 500, controls the base 100 to move to a position which is a preset distance from the target position according to the recognition result, adjusts the posture direction of the base 100 to adjust the emitting direction of the emitting part 300 to a target emitting direction, and the control part 200 controls the emitting part 300 to emit the table tennis ball to the target position in the target emitting direction.
Based on the above concept, the control part 200, the emitting part 300, the grabbing part 400, the visual recognition part 500 and the supporting part 600 are integrally mounted on the base 100, so that the picking-up and the serving of the table tennis are integrally designed, and the integration level of the picking-up and the serving is improved. In the process of table tennis ball launching, the base 100 is moved to the position away from the target position by the preset distance for launching, compared with the traditional method that the table tennis ball is released after the base 100 is moved to the target position, the moving stroke from the base 100 to the target position is greatly shortened, correspondingly, the moving time from the base 100 to the target position is saved, and the working efficiency of table tennis ball picking and launching is improved.
The above components and the relationship between the components will be described in detail below.
As shown in fig. 2, the base 100 is designed in a double-layer structure, the base 100 is provided with the universal wheels 101, for example, three universal wheels 101, the control portion 200 can control the base 100 to flexibly move and turn through the universal wheels 101, and the base 100 is not easily deformed, is firmer, lowers the center of gravity, keeps the overall structure stable, and simultaneously prevents the table tennis from being stuck to the bottom of the base 100 through the double-layer structure design.
The control unit 200 is a processor of the integrated ping-pong ball picking and delivering device, and is used for data processing and command signal transmission, for example, to control the operation of the base 100, the emitting unit 300 and the catching unit 400 according to the identification information of the visual identification unit 500, for example, the control unit 200 controls the movement of the base 100, the emitting unit 300 and the catching unit 400 to execute the ball picking operation. In the present application, the control unit 200 may be a PLC controller, and those skilled in the art may select another processor according to the actual application, for example, an ARM processor.
Fig. 3 shows a schematic combination of the launching section 300 and the grasping section 400, wherein a detailed structure of the launching section 300 is shown in fig. 4, and the launching section 300 includes a launching cavity 301, a launching rod 302, a launching rod driving mechanism 303, a launching body 304, and a launching body driving mechanism 305.
The emission cavity 301 is mounted on the support part 600, and the emission cavity 301 comprises a cavity 3011 in a hollow structure and an emission end 3012 in a conical shape; as shown in fig. 5 and 6, the cavity 3011 is a hollow structure, and two side surfaces and a part of the bottom of the cavity 3011 are respectively provided with a hollow, wherein the hollow part of the bottom of the cavity 3011 is located at the tail of the cavity 3011.
The shooting rod 302 and the shooting rod driving mechanism 303 are installed in cooperation with the cavity 3011, wherein the free end of the shooting rod 302 is located in the cavity 3011, the shooting rod driving mechanism 303 is in signal connection with the control portion 200, and the control portion 200 controls the shooting rod driving mechanism 303 to drive the shooting rod 302 to move in the cavity 3011.
The emitter 304 and the emitter driving mechanism 305 are installed in cooperation with the cavity 3011, wherein the emitter 304 is disposed at two sides of the cavity 3011 near the emitting end 3012, a part of the emitter 304 is connected to the side hollow portion of the cavity 3011, so that the non-hollow portion of the cavity 3011 corresponding to the installation position of the part of the emitter 304 and the emitting end 3012 form an emitting channel, the emitter driving mechanism 305 is in signal connection with the control portion 200, and the control portion 200 controls the emitter driving mechanism 305 to drive the emitter 304 to make a circular rotation motion relative to the cavity 3011 according to a preset distance.
When the control unit 200 controls the launching rod driving mechanism 303 to drive the launching rod 302 to push the table tennis ball in the cavity 3011 to the launching channel, the launching body 304 drives the table tennis ball to move to the launching end 3012 by the rotation motion and launch the table tennis ball.
Specifically, as shown in fig. 7, the firing rod 302 includes a sliding portion 3021 slidably disposed outside the cavity 3011 and a pushing portion 3022 extending into a bone of the cavity 3011, the sliding portion 3021 and the pushing portion 3022 are integrally formed as a v-21274, and the sliding portion 3021 is provided with a rack 3023. Preferably, the sliding portion 3021 is disposed on the top of the cavity 3011, and correspondingly, the top of the cavity 3011 is further provided with a retention slot 3013 engaged with the sliding portion 3021, and the sliding portion 3021 penetrates through the retention slot 3013. Preferably, a protrusion 3024 is disposed at one end of the pushing portion 3022 contacting the table tennis ball, and the contact area of the pushing portion 3022 contacting the table tennis ball is increased by the protrusion 3024, and the protrusion 3024 may have a cylindrical structure or a square structure.
As shown in fig. 8, the firing rod driving mechanism 303 includes a gear 3031 engaged with a rack 3023 and a driving portion 3032 driving the gear 3031, the gear 3031 is engaged with the rack 3023 on the firing rod 302, the driving portion 3032 is preferably a motor, the motor is mounted on one side of the cavity 3011 opposite to the gear 3031, a rotating shaft of the motor is fixedly connected with the gear 3031, and when the motor drives the gear 3031 to drive the sliding portion 3021 to move relative to the cavity 3011, the pushing portion 3022 moves inside the cavity 3011.
Preferably, only the table tennis balls in the cavity 3011 need to be pushed to the launching channel, specifically to the launching body 304, by designing the gear ratio relationship between the gear 3031 and the rack 3023, the control gear 3031 only needs to rotate 180 degrees to push the table tennis balls to the launching channel, and by the design, the table tennis balls can be pushed to a specified position without error, so that the success rate of table tennis ball launching is improved. Based on this concept, one skilled in the art can also design other values of the gear ratio relationship between gear 3031 and rack 3023, for example, control gear 3031 to rotate 360 ° to push table tennis balls into the launching channel.
As shown in fig. 9, the surface of the emitter 304 contacting with the table tennis ball is concave, and when the emitter 304 is symmetrically disposed on two sides of the cavity 3011, the concave surfaces of the emitters 304 on two sides are used for wrapping the table tennis ball, so as to increase the contact surface between the emitter 304 and the table tennis ball, and improve the friction between the emitter 304 and the table tennis ball, so that the table tennis ball is more stably and accurately emitted.
The launching body 304 is preferably a launching wheel with friction, the launching body driving mechanism 305 is preferably a motor, the speed of the motor is controlled to control the rotation speed of the launching body 304, and further control the initial launching speed of the table tennis, in the process of launching the table tennis, the base 100 is moved to a position away from the target position by a preset distance, so that the control part 200 controls the initial launching speed of the table tennis according to the preset distance to control the table tennis to be launched to the target position accurately, compared with the traditional method that the table tennis is released after being moved to the target position, the moving stroke from the base 100 to the target position is greatly shortened, accordingly, the moving time from the base 100 to the target position is saved, and the working efficiency of picking up and launching the table tennis is improved.
As shown in fig. 10, the gripping section 400 includes a robot arm 401 and a gripper 402, the robot arm 401 being mounted at the bottom of the cavity 3011, near the launch end 3012; the gripper 402 is arranged at the tail end of the mechanical arm 401 in a matching way; the cooperating mounting structures of the robot arm 401 and the hand grip 402 are hooked inward relative to the cavity 3011 to reduce the footprint.
The hand grip 402 is matched with the hollow part at the bottom of the cavity 3011, when the hand grip 402 is driven by the mechanical arm 401 to extend into the cavity 3011 through the hollow part at the bottom of the cavity 3011, the unfolding state of the hand grip 402 is connected with the cavity 3011 and the launching channel, so that the hand grip 402 and the launching channel form a motion channel of the table tennis to be launched.
The robot 401 is mounted at the bottom of the cavity 3011 in a hinged manner, and the control unit 200 controls the robot 401 to rotate at a hinge point, thereby driving the gripper 402 to move.
As shown in fig. 11, the hand grip 402 includes a clamp plate 4021 having a symmetrical and concave structure, a gear 4022 engaged with the clamp plate having a symmetrical structure, and a driving portion for driving the gear 4022 to move in an engagement manner, and a support rod 4023 is disposed between the clamp plate 4021 and the gear 4022, wherein the gear 4022 and the support rod 4023 are integrated, and the driving portion drives the gear 4022 engaged with each other to rotate so as to drive the clamp plates 4021 to clamp or open each other.
In other embodiments, in order to prevent the ping-pong ball clamped between the two clamping plates 4021 from being damaged due to over-clamping, further, the surface of the clamping plate 4021 contacting with the ping-pong ball is elastic. Specifically, as shown in fig. 12, an anti-slip plate 4024 is disposed on a surface of the splint 4021 contacting the table tennis ball, and an elastic body 4025 is disposed between the anti-slip plate 4024 and the splint 4021, where the elastic body 4025 may be a spring or an elastic body such as a sponge.
The emitting part 300 and the grasping part 400 adopt the above structural design to achieve the following advantages:
1) the cavity 3011 of the launching cavity 301 is designed to be a hollow structure, and a hollow part at the bottom of the cavity 3011 is matched with the grip 402 of the gripping part 400 to form a moving channel of a table tennis ball in the cavity 3011; make the table tennis that this application provided pick up send integrated device simple structure, compactness.
2) The emitter 304 is connected with the hollow-out part on the side surface of the cavity 3011, the non-hollow-out part of the cavity corresponding to the installation position of the emitter and part of the emitter and the emitting end 3012 form an emitting channel, the initial emitting speed of the table tennis ball is controlled by controlling the circumferential rotation speed of the emitter 304, and the table tennis ball can be controlled to be emitted to a target position more accurately by controlling the initial emitting speed.
3) The launching end 3012 of the launching cavity 300 is designed to be conical, and when the table tennis is launched, the conical opening can sufficiently reserve enough deviation allowance for the launching of the table tennis, so that the initial launching speed of the table tennis caused by slight vibration formed by the contact of the table tennis and the inner wall of the launching end 3012 can be prevented from being greatly reduced.
4) The one side that emitter 304 and table tennis contact is the concave surface form, and when emitter 304 symmetry set up in cavity 3011's both sides, the concave surface of both sides emitter 304 symmetry is used for wrapping up the table tennis, increases the contact surface of emitter and table tennis, improves the frictional force between emitter and the table tennis for the transmission of table tennis is more stable, and is more accurate.
5) The tongs 402 of the grabbing part 400 are symmetrical clamping plates with meshing structures, and one surfaces of the clamping plates, which are contacted with the table tennis balls, are elastic, so that the table tennis balls are prevented from being damaged due to excessive clamping.
The visual recognition unit 500 is specifically a camera with visual recognition, and the visual recognition unit 500 can acquire a desired target object, for example, for different application scenes of table tennis balls, the table tennis balls are respectively designed with different colors, for example, red table tennis balls, blue table tennis balls, green table tennis balls, etc., and if the table tennis balls with blue colors need to be picked up and sent out, the visual recognition unit 500 performs visual recognition on the table tennis balls with different colors to recognize the blue table tennis balls. Since the ping-pong ball is shot at the position of the preset distance from the target position, if the preset distance is 10m, the target position with the distance of 10m needs to be recognized by the visual recognition part 500 in the present application. In order to expand the visual field of the visual recognition part 500 (or the wide angle of the camera) regardless of whether the table tennis ball is recognized or the target position is recognized, the visual recognition part 500 is rotatably disposed just below the emitting end 3012, and the control part 200 controls the rotation direction of the visual recognition part 500 in real time according to the grasping process of the grasping part 400 and the emitting process of the emitting part 300, and acquires the recognition information of the visual recognition part 500 in time.
Further, in order to expand the grip range in which the grip part 400 is forwardly inclined, the support part 600 of the present application is movably installed with respect to the base 100, and the support part 600 is forwardly inclined in accordance with the forward movement of the grip part 400 during the grip of the part 400 to be gripped for gripping the table tennis ball.
Correspondingly, the in-process that portion 400 snatchs the table tennis forward motion can produce forward tilting force, and the in-process that launch portion 300 launched the table tennis also can produce forward launch impulsive force, in order to prevent the forward slope of overall structure, and further, still include anti-tilt portion 700, anti-tilt portion 700 cooperation base 100 sets up, and is concrete, and anti-tilt portion 700 is with portion 400 with snatching the same thing and set up on base 100.
Further, an auxiliary portion 800 is further included, the auxiliary portion 800 is installed to be engaged with the supporting portion 600, and the auxiliary portion 800 is used to restore the auxiliary supporting portion 600 when the supporting portion 600 is tilted forward.
The working principle of the table tennis ball picking and delivering integrated device of the present application is explained below.
Grabbing a table tennis: the control part 200 drives the base 100 to move, the control part 200 controls the base 100 to move based on the identification information of the visual identification part 500 to identify the table tennis ball to be gripped, controls the robot arm 401 to move forward and downward according to the identification result, and controls the gripper 402 to open and grip the table tennis ball.
The table tennis ball is put into the cavity 3011: the control part 200 controls the mechanical arm 401 to move backwards and upwards, so that the hand grip 402 extends into the cavity 3011 through the hollow part at the bottom of the cavity 3011, and the unfolding state of the hand grip 402 is connected with the cavity 3011 and the launching channel.
Launching a table tennis: the control unit 200 controls the launching rod driving mechanism 303 to drive the launching rod 302 to move in the cavity 3011, so that the table tennis ball in the cavity 3011 is pushed to the launching channel, the control unit 200 adjusts the posture direction of the base 100 according to the target position to adjust the orientation of the launching end 3012 relative to the target position, that is, adjusts the launching direction of the launching end 3012, and then the control unit 200 controls the launching body driving mechanism 305 to drive the launching body 304 to make a circular rotation movement relative to the cavity 3011 according to the preset distance, so as to drive the table tennis ball to be stably launched at the set launching initial speed along the adjusted target launching direction and accurately launch the table tennis ball into the target position.
The application provides a table tennis picks up and sends integrated device has following at least one beneficial effect:
1) through with control part, transmission portion, snatch portion, visual identification portion and supporting part integrated installation on the base, make the integrated design of picking up, sending of table tennis, improved the integrated level of picking up, sending.
2) In the process of table tennis ball launching, the base is moved to the position away from the target position by the aid of the table tennis ball launching device and the table tennis ball is launched by the aid of the table tennis ball launching device, compared with the traditional table tennis ball launching device which moves to the target position and releases the table tennis ball, the moving stroke of the base to the target position is greatly shortened, accordingly, moving time between the base and the target position is saved, and working efficiency of table tennis ball picking and launching is improved.
3) The cavity of launching chamber adopts hollow out construction design, and the bottom fretwork part of cavity forms the motion passageway of table tennis in the cavity with the tongs phase-match of portion of grabbing for the table tennis that this application provided picks up and sends integrated device simple structure, compactness, miniaturization.
4) The cavity of the launching cavity is designed to be a hollow structure, the launching body is connected with the hollow part on the side face of the cavity, the non-hollow part of the cavity corresponding to the installation position where the launching body is located and the launching end form a launching channel, the launching initial speed of the table tennis ball is controlled by controlling the circumferential rotation speed of the launching body, and further the table tennis ball can be controlled to be launched to a target position more accurately.
5) The launching end of the launching cavity adopts a conical design, and a conical opening allows enough offset allowance for the launching of the table tennis.
6) The one side that emitter and table tennis contacted is the concave surface form, the emitter symmetry set up in during the both sides of cavity, the concave surface of both sides emitter symmetry is used for wrapping up the table tennis, increases the contact surface of emitter and table tennis, improves the frictional force between emitter and the table tennis for the transmission of table tennis is more stable, more accurate.
7) The tongs of portion of snatching adopts the symmetry splint of meshing structure, and the splint is elasticity with the one side of table tennis contact, prevents that the centre gripping from excessively causing the damage to the table tennis.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (10)
1. The utility model provides a table tennis picks up and sends out integrated device which characterized in that includes: the device comprises a base, a control part, an emitting part, a grabbing part, a visual identification part and a supporting part;
the base is a carrier for supporting the control part, the emission part, the grabbing part, the visual recognition part and the supporting part, wherein the control part and the supporting part are respectively arranged on the base, the emission part is arranged on the supporting part, the grabbing part is movably arranged in a manner of being matched with the emission part, and the visual recognition part is movably arranged in a manner of being matched with the grabbing part and the emission part;
the control part is respectively in signal connection with the base, the emitting part, the grabbing part and the visual identification part, the control part controls the base to move based on the identification information of the visual identification part so as to identify the table tennis to be grabbed, controls the grabbing part to grab the table tennis according to the identification result, and controls the grabbing part to transfer the grabbed table tennis to the emitting part;
the control part controls the base to move to identify a target position based on the identification information of the visual identification part, controls the base to move to a position which is a preset distance away from the target position according to an identification result, adjusts the posture direction of the base so as to adjust the emission direction of the emission part to a target emission direction, and controls the emission part to emit the table tennis ball in the target emission direction so as to emit the table tennis ball to the target position.
2. The table tennis ball picking and delivering integrated device of claim 1, wherein the launching part comprises: the device comprises a launching cavity, a launching rod driving mechanism, a launching body and a launching body driving mechanism;
the emission cavity is arranged on the supporting part and comprises a cavity body in a hollow structure and an emission end in a conical body;
the emission rod and the emission rod driving mechanism are installed in a matched mode with the cavity, the free end of the emission rod is located in the cavity, the emission rod driving mechanism is in signal connection with the control portion, and the control portion controls the emission rod driving mechanism to drive the emission rod to move in the cavity;
the emitter and the emitter driving mechanism are matched with the cavity to be installed, wherein the emitter is symmetrically arranged at two sides of the cavity close to the emitting end, part of the emitter is connected with a hollow part on the side surface of the cavity, so that a non-hollow part of the cavity corresponding to the installation position of the part of the emitter and the emitting end forms an emitting channel, the emitter driving mechanism is in signal connection with the control part, and the control part controls the emitter driving mechanism to drive the emitter to do circular rotation motion relative to the cavity according to the preset distance;
when the control part controls the launching rod driving mechanism to drive the launching rod to push the table tennis balls in the cavity to the launching channel, the launching body drives the table tennis balls to move to the launching end through rotary motion and launch the table tennis balls.
3. The table tennis ball picking and sending integrated device as claimed in claim 2, wherein the shooting rod comprises a sliding part slidably arranged outside the cavity and a pushing part extending into the cavity, and the sliding part and the pushing part are integrally formed into a v-21274;
the sliding part is provided with a rack;
the emission rod driving mechanism comprises a gear meshed with the rack and a driving part for driving the gear;
the driving part drives the gear to drive the sliding part to move relative to the cavity, so that the pushing part moves in the cavity.
4. The integrated table tennis ball picking and launching device of claim 2, wherein the surface of the emitter contacting the table tennis ball is concave, and when the emitters are symmetrically arranged on both sides of the cavity, the concave surfaces of the emitters on both sides are used for wrapping the table tennis ball.
5. The integrated table tennis ball picking and delivering device of claim 2, wherein the gripping portion comprises a mechanical arm and a grip;
the mechanical arm is arranged at the bottom of the cavity and is close to the transmitting end;
the hand grip is arranged at the tail end of the mechanical arm in a matching way;
the matching installation structure of the mechanical arm and the gripper is in an inward hook shape relative to the cavity;
the hand grip is matched with the hollow part at the bottom of the cavity, when the mechanical arm drives the hand grip to extend into the cavity through the hollow part at the bottom of the cavity, the unfolding state of the hand grip is connected with the cavity and the launching channel, so that the hand grip and the launching channel form a motion channel of the table tennis to be launched.
6. The table tennis ball picking and delivering integrated device as claimed in claim 5, wherein the hand grip comprises symmetrically-structured concave-structured clamping plates, and mutually-meshed gears which are matched with the symmetrically-structured clamping plates and are arranged, and the symmetrically-structured clamping plates are driven to mutually clamp or open through the meshed gears.
7. The integrated table tennis ball picking and delivering device of claim 6, wherein the surface of the clamping plate contacting the table tennis ball is elastic, the outer surface of the clamping plate is provided with springs, and the outer surface of the springs is provided with anti-slip plates. When the antiskid ribbed tile on splint contacted the table tennis, can increase the frictional force of table tennis and antiskid ribbed tile to realized preventing the phenomenon emergence that drops when the centre gripping, and according to the effect of antiskid ribbed tile top spring elasticity, thereby prevented that the centre gripping from excessively shining the phenomenon emergence that becomes the damage to the table tennis.
8. The table tennis ball picking and delivering integrated device as claimed in claim 1, wherein the supporting part is movably installed with respect to the base, and the supporting part is tilted forward with the forward movement of the grasping part during the process that the grasping part grasps the table tennis ball.
9. The integrated table tennis ball picking and distributing device of claim 8, further comprising an anti-tilt portion disposed in cooperation with the base for preventing the integrated device from tilting forward when the gripping portion or/and the launching portion are operated.
10. The table tennis ball picking and delivering integrated device of claim 8, further comprising an auxiliary part installed in cooperation with the support part, the auxiliary part being used to assist the support part in returning when the support part is tilted forward.
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| CN202011362457.9A CN112386886B (en) | 2020-11-27 | 2020-11-27 | Table tennis ball picking and distributing integrated device |
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| CN202011362457.9A CN112386886B (en) | 2020-11-27 | 2020-11-27 | Table tennis ball picking and distributing integrated device |
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| CN112386886B CN112386886B (en) | 2022-01-25 |
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| CN112807636A (en) * | 2020-12-31 | 2021-05-18 | 广州雅付信息科技有限公司 | Novel table tennis ball picking and sending integrated robot |
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