CN113977612A - Open type driving and controlling integrated robot motion controller - Google Patents

Abstract

The invention belongs to the field of robot control, and particularly relates to an open type drive-control integrated robot motion controller which comprises a table, a control handle and a sports table top arranged on the table, wherein the inner side wall of the sports table top is movably connected with a control shaft, sliding grooves are symmetrically formed in the side surface of the control shaft, a robot is arranged on the side surface of the control shaft, and the robot comprises a main body box and a control box; this device is through being provided with mobilizable robot on the control axis, through being provided with moving mechanism, make the robot can be at the epaxial quick travel of control, through being provided with control mechanism, can control the robot and hit the ball, make the nature controlled of robot stronger, then carry out remote control through brake valve lever, make controlling of robot more convenient, need not fix and stand in a position, effectively reduced the fatigue of the hand of controlling the person and shank, make the suitable crowd of device wider, it is better to be interesting.

Description

Open type driving and controlling integrated robot motion controller

Technical Field

The invention belongs to the field of robot control, and particularly relates to an open type driving and controlling integrated robot motion controller.

Background

The table football is a simple sports game activity, not only has the special antagonism and excitement of sports, but also has the entertainment and appreciation of the game activity, and achieves the effects of entertainment, sports and even parent-child relationship promotion through the game design of mutual antagonism and competition.

The existing game table is controlled by manually operating a handle, a part on a control shaft is fixed, the control shaft needs to be turned fiercely to hit when in control, the wrist is rotated continuously after standing for a long time, hands are easy to ache, and the control is inconvenient for old people and children.

For this reason, an open drive-control integrated robot motion controller is designed to solve the above-described problems.

Disclosure of Invention

To solve the problems set forth in the background art described above. The invention provides an open type driving and controlling integrated robot motion controller, which is characterized in that a movable robot is arranged on a control shaft, the robot can rapidly move on the control shaft by being provided with a moving mechanism, the robot can be controlled to hit balls by being provided with a control mechanism, the controllability of the robot is stronger, and then the robot is controlled remotely by a control handle, so that the robot is more convenient to control, the robot does not need to stand at one position fixedly, the fatigue of hands and legs of a manipulator is effectively reduced, the applicable crowd of the device is wider, and the interestingness of the device is better.

In order to achieve the purpose, the invention provides the following technical scheme: the open type driving and controlling integrated robot motion controller comprises a table, a control handle and a sports table top arranged on the table, wherein the inner side wall of the sports table top is movably connected with a control shaft, sliding grooves are symmetrically formed in the side surface of the control shaft, and a robot is arranged on the side surface of the control shaft;

the robot comprises a main body box and a control box, wherein a moving mechanism and a control mechanism are arranged inside the main body box, a shooting mechanism is arranged at the top of the main body box, and the main body box is movably connected with a control shaft.

Preferably, the movement controller of the open drive-control integrated robot comprises a mounting plate, a first rotating shaft, a moving roller, a second rotating shaft, a first gear, a first synchronizing wheel, a first synchronizing belt, a third rotating shaft and a second synchronizing wheel, wherein the mounting plate is fixedly arranged inside a main box, the four corners of the mounting plate are respectively provided with the first rotating shaft, the moving roller is fixedly connected with the bottom end of the first rotating shaft, the second rotating shaft is rotatably connected with the middle part of the mounting plate, the first gear is fixedly arranged at the top end of the second rotating shaft, the second rotating shaft and the first rotating shaft at the same side are in transmission connection with the first synchronizing belt through the first synchronizing wheel, the third rotating shaft is rotatably connected with the middle part of the mounting plate, the second synchronizing wheel is fixedly arranged at the top end of the third rotating shaft, the third rotating shaft and the first rotating shaft at the same side are in transmission connection with the first synchronizing belt through the first synchronizing wheel, the second rotating shaft and the third rotating shaft are symmetrically arranged, and the movable roller is located inside the sliding groove.

Preferably, the movement controller of the open type drive-control integrated robot further comprises an installation frame, a driving motor, a driving shaft, a third synchronizing wheel, a second gear, an electric cylinder and a friction block, wherein the installation frame is fixedly installed at the top of the installation frame, the driving motor is fixedly installed at the top of the installation frame, the driving shaft is fixedly connected with the output end of the driving motor, the third synchronizing wheel and the second gear are fixedly installed on the side surface of the driving shaft, the electric cylinder is fixedly installed on the inner side wall of the installation frame, the friction block is fixedly connected with the output end of the electric cylinder, the friction block is in contact with the side surface of the driving shaft, the first gear is in meshing connection with the second gear, and the second synchronizing wheel is in transmission connection with the third synchronizing wheel through a synchronous belt.

Preferably, the open type drive-control integrated robot motion controller of the invention comprises a fixed rod, a connecting block, a first control rod, a second control rod, a third control rod, a control motor, a rotary table, a control column, a first support rod, a movable sleeve, a first connecting rod, a supporting frame, a sliding seat, a first ball striking plate, a supporting column, a second ball striking plate and a second support rod, wherein the fixed rod is fixedly arranged at one side inside the main box, the connecting block is rotatably connected with one end of the fixed rod, the first control rod, the second control rod and the third control rod are fixedly connected with the side surface of the connecting block, the first control rod and the second control rod are symmetrically arranged, the third control rod is positioned between the first control rod and the second control rod, the control motor is fixedly arranged at one side inside the main box, the rotary table is fixedly connected with the output end of the control motor, two the control column symmetry sets up in one side of carousel, first branch rotates with two control columns respectively with second branch to be connected, the one end of first branch rotates with the one end of third control pole to be connected, the side surface swing joint of movable sleeve and third control pole, the movable sleeve rotates with the support frame through first connecting rod to be connected, support frame fixed mounting is in one side of sliding seat, one side swing joint of sliding seat and main part case, first another side fixed connection who hits ball board and sliding seat, four pillar fixed mounting is in one side of main part case, two the second hits the ball board and rotates with the pillar that corresponds respectively and is connected.

Preferably, the two second striking plates are symmetrically arranged on the upper side and the lower side of the first striking plate, one sides of the two second striking plates are rotatably connected with connecting frames, the connecting frame on the upper side is rotatably connected with the second supporting rod, and the connecting frame on the lower side is rotatably connected with the second control rod.

Preferably, the shooting mechanism comprises a first motor, a connecting seat, a second connecting rod, a movable block, a mounting rod, a mounting box, a motor plate, a second motor, a first swing rod, a second swing rod and a camera, the first motor is fixedly mounted at the top of the inner side of the main box, the connecting seat is positioned at the top of the main box and is fixedly connected with the output end of the first motor, the movable block is positioned at the inner side of the connecting seat and is rotatably connected with the inner side wall of the connecting seat through the second connecting rod, the mounting rod is fixedly mounted at the top of the movable block, the mounting box is fixedly mounted at the top end of the mounting rod, the motor plate is fixedly mounted at the top of the main box, the second motor is fixedly mounted at one side of the motor plate, one end of the first swing rod is fixedly connected with the output end of the second motor, the other end of the second swing rod is rotatably connected with one end of the second swing rod, the other end of the second swing rod is rotatably connected with the mounting rod, and the camera is fixedly mounted on one side of the mounting box.

Preferably, the open type drive-control integrated robot motion controller is characterized in that a locking mechanism is arranged at the joint of the table and the control shaft, the locking mechanism comprises a locking seat, a threaded groove, a threaded rod and a handle, the locking seat is fixedly arranged on one side of the table, the control shaft penetrates through the locking seat, the threaded groove is formed in the locking seat, the threaded rod is in threaded connection with the threaded groove, the handle is fixedly arranged at one end of the threaded rod, and the other end of the threaded rod is located in the sliding groove.

Preferably, the open type drive-control integrated robot motion controller is provided with movable grooves in the top and the bottom of the main body box, and the second support rod and the second control rod are located in the corresponding movable grooves.

Preferably, the motion controller of the open type drive-control integrated robot is characterized in that a storage battery, a controller, a Bluetooth module and a data conversion module are fixedly arranged in the control box.

Preferably, the open type drive-control integrated robot motion controller is characterized in that goals are symmetrically arranged on the inner side wall of the sports table board, and a crank is fixedly arranged at one end of the control shaft.

Compared with the prior art, the invention has the beneficial effects that:

through being provided with mobilizable robot on the control axis, through being provided with moving mechanism, make the robot can be at the epaxial quick travel of control, through being provided with control mechanism, can control the robot and hit the ball, make the nature controlled of robot stronger, then carry out remote control through brake valve lever, make controlling of robot more convenient, need not fix and stand in a position, effectively reduced the fatigue of the person's of controlling hand and shank, make the suitable crowd of device wider, it is better to be interesting.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of a robot according to the present invention;

FIG. 3 is a schematic view of the internal structure of the robot according to the present invention;

FIG. 4 is a schematic structural view of a moving mechanism according to the present invention;

FIG. 5 is a schematic structural view of a mount of the present invention;

FIG. 6 is a schematic structural view of a control mechanism according to the present invention;

FIG. 7 is an enlarged view taken at A in FIG. 6;

FIG. 8 is a schematic view of the photographing mechanism according to the present invention;

FIG. 9 is a schematic view of the locking mechanism of the present invention;

FIG. 10 is a schematic view showing the internal structure of the control box according to the present invention;

FIG. 11 is a flow chart of the present invention.

In the figure:

1. a table; 12. a control handle; 2. a sports table-board; 21. a control shaft; 211. a crank; 22. a chute; 23. a goal;

3. a robot; 31. a main body case; 32. a control box; 33. a storage battery; 34. a controller; 35. a Bluetooth module; 36. a data conversion module; 37. a movable groove;

4. a moving mechanism; 41. mounting a plate; 42. a first rotating shaft; 43. moving the roller; 44. a second rotating shaft; 45. a first gear; 46. a first synchronizing wheel; 47. a first synchronization belt; 48. a third rotating shaft; 49. a second synchronizing wheel; 410. a mounting frame; 411. a drive motor; 412. a drive shaft; 413. a third synchronizing wheel; 414. a second gear; 415. an electric cylinder; 416. a friction block;

5. a control mechanism; 51. fixing the rod; 52. connecting blocks; 53. a first control lever; 54. a second control lever; 55. a third control lever; 56. controlling the motor; 57. a turntable; 58. a control column; 59. a first support bar; 510. a movable sleeve; 511. a first connecting rod; 512. a support frame; 513. a sliding seat; 514. a first striking plate; 515. a pillar; 516. a second striking plate; 517. a connecting frame; 518. a second support bar;

6. a shooting mechanism; 61. a first motor; 62. a connecting seat; 63. a second connecting rod; 64. a movable block; 65. mounting a rod; 66. installing a box; 67. a motor plate; 68. a second motor; 69. a first swing link; 610. a second swing link; 611. a camera;

7. a locking mechanism; 71. a locking seat; 72. a thread groove; 73. a threaded rod; 74. a handle.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1:

as shown in fig. 1-11:

open drive integrative robot motion control ware of accuse, including table platform 1, brake valve lever 12 and set up the sports mesa 2 on table platform 1, the inside wall swing joint of sports mesa 2 has control shaft 21, spout 22 has been seted up to the side surface symmetry of control shaft 21, the side surface of control shaft 21 is provided with robot 3, robot 3 includes main part case 31 and control box 32, the inside of main part case 31 is provided with moving mechanism 4 and control mechanism 5, the top of main part case 31 is provided with shoots mechanism 6, main part case 31 and control shaft 21 swing joint.

In this embodiment: be provided with the sports mesa 2 on the table platform 1, the inside wall swing joint of control shaft 21 and sports mesa 2, when needs are controlled robot 3 through brake valve lever 12, lock control shaft 21 through locking mechanism 7, it is fixed to make control shaft 21, make things convenient for robot 3 to remove on control shaft 21, make operating personnel's operation more accurate, when the operator needs to operate control shaft 21 with the arm, loosen spacing to control shaft 21 through locking mechanism 7, then carry out the top through electronic jar 415 control clutch blocks 416 to driving shaft 412 tightly, make driving shaft 412 stall, thereby make robot 3 stop motion, make things convenient for the operator to carry out manual control through crank 211 to control shaft 21, the control mode of device is more, can be applicable to more crowds.

Based on the existing open type drive-control integrated robot motion controller, the movable robot 3 is arranged on the control shaft 21, the moving mechanism 4 is arranged, so that the robot 3 can move on the control shaft 21 quickly, the control mechanism 5 is arranged, the robot 3 can be controlled to hit balls, the controllability of the robot 3 is stronger, and then the remote control is carried out through the control handle 12, so that the robot 3 is more convenient to control, the robot does not need to stand at a fixed position, the fatigue of hands and legs of a manipulator is effectively reduced, the applicable crowd of the device is wider, and the interestingness is better.

As shown in fig. 3, 4 and 5;

with the above, the moving mechanism 4 includes a mounting plate 41, a first rotating shaft 42, a moving roller 43, a second rotating shaft 44, a first gear 45, a first synchronizing wheel 46, a first synchronizing belt 47, a third rotating shaft 48 and a second synchronizing wheel 49, the mounting plate 41 is fixedly installed inside the main body box 31, the first rotating shaft 42 is disposed at each of four corners of the mounting plate 41, the moving roller 43 is fixedly connected with the bottom end of the first rotating shaft 42, the second rotating shaft 44 is rotatably connected with the middle portion of the mounting plate 41, the first gear 45 is fixedly installed at the top end of the second rotating shaft 44, the second rotating shaft 44 is in transmission connection with the first rotating shaft 42 at the same side through the first synchronizing wheel 46 and the first synchronizing belt 47, the third rotating shaft 48 is rotatably connected with the middle portion of the mounting plate 41, the second synchronizing wheel 49 is fixedly installed at the top end of the third rotating shaft 48, the third rotating shaft 48 is in transmission connection with the first rotating shaft 42 at the same side through the first synchronizing wheel 46 and the first synchronizing belt 47, the second rotating shaft 44 and the third rotating shaft 48 are symmetrically arranged, the moving roller 43 is located inside the sliding groove 22, the moving mechanism 4 further comprises an installation frame 410, a driving motor 411, a driving shaft 412, a third synchronizing wheel 413, a second gear 414, an electric cylinder 415 and a friction block 416, the installation frame 410 is fixedly installed at the top of the installation plate 41, the driving motor 411 is fixedly installed at the top of the installation frame 410, the driving shaft 412 is fixedly connected with the output end of the driving motor 411, the third synchronizing wheel 413 and the second gear 414 are fixedly installed on the side surface of the driving shaft 412, the electric cylinder 415 is fixedly installed on the inner side wall of the installation frame 410, the friction block 416 is fixedly connected with the output end of the electric cylinder 415, the friction block 416 is in contact with the side surface of the driving shaft 412, the first gear 45 is in meshed connection with the second gear 414, and the second synchronizing wheel 49 is connected with the third synchronizing wheel 413 through synchronous belt transmission.

In this embodiment: the mounting plate 41 is fixedly installed inside the main body box 31, the mounting frame 410 is fixedly installed on the top of the mounting plate 41, the driving motor 411 is fixedly installed on the top of the mounting frame 410, the driving motor 411 controls the third synchronizing wheel 413 and the second gear 414 to rotate through the driving shaft 412, the second synchronizing wheel 49 and the third synchronizing wheel 413 are connected through a synchronous belt transmission, the first gear 45 is connected with the second gear 414 in a meshed manner, when the driving shaft 412 drives the third synchronizing wheel 413 and the second gear 414 to rotate, the rotating directions of the second rotating shaft 44 and the third rotating shaft 48 are opposite, the second rotating shaft 44 and the first synchronizing belt 47 drive the first rotating shaft 42 on the same side to rotate through the first synchronizing wheel 46, the third rotating shaft 48 and the first synchronizing belt 47 drive the first rotating shaft 42 on the same side to rotate through the first synchronizing wheel 46, and the rotating directions of the second rotating shaft 44 and the third rotating shaft 48 are opposite, so that the rotating directions of the moving rollers 43 on both sides of the mounting plate 41 are opposite, the movable rollers 43 are located inside the sliding groove 22, and because the rotation directions of the movable rollers 43 on the two sides of the mounting plate 41 are opposite, when the robot 3 needs to be controlled to move, the four movable rollers 43 can be driven, so that the robot 3 can move on the control shaft 21 more quickly, the reaction is more sensitive, and the slipping phenomenon cannot be generated.

It should be noted that: the side surface of the movable roller 43 is provided with a rubber cushion layer, the movable roller 43 is tightly attached to the inner bottom of the sliding groove 22, and the friction force between the movable roller 43 and the sliding groove 22 is enhanced through the rubber cushion layer, so that the fixing effect of the robot 3 is better.

As shown in fig. 1, 2, 3, 6 and 7;

with the above, the control mechanism 5 includes a fixing rod 51, a connecting block 52, a first control rod 53, a second control rod 54, a third control rod 55, a control motor 56, a rotary disc 57, a control column 58, a first supporting rod 59, a movable sleeve 510, a first connecting rod 511, a supporting frame 512, a sliding seat 513, a first ball striking plate 514, a supporting column 515, a second ball striking plate 516 and a second supporting rod 518, the fixing rod 51 is fixedly installed at one side inside the main body box 31, the connecting block 52 is rotatably connected with one end of the fixing rod 51, the first control rod 53, the second control rod 54 and the third control rod 55 are all fixedly connected with a side surface of the connecting block 52, the first control rod 53 and the second control rod 54 are symmetrically arranged, the third control rod 55 is located between the first control rod 53 and the second control rod 54, the control motor 56 is fixedly installed at one side inside the main body box 31, the rotary disc 57 is fixedly connected with an output end of the control motor 56, the two control columns 58 are symmetrically arranged on one side of the rotating disc 57, the first supporting rod 59 and the second supporting rod 518 are respectively and rotatably connected with the two control columns 58, one end of the first supporting rod 59 is rotatably connected with one end of the third control rod 55, the movable sleeve 510 is movably connected with the side surface of the third control rod 55, the movable sleeve 510 is rotatably connected with the supporting frame 512 through the first connecting rod 511, the supporting frame 512 is fixedly arranged on one side of the sliding seat 513, the sliding seat 513 is movably connected with one side of the main body box 31, the first batting plate 514 is fixedly connected with the other side of the sliding seat 513, the four supporting columns 515 are fixedly arranged on one side of the main body box 31, and the two second batting plates 516 are respectively and rotatably connected with the corresponding supporting columns 515.

In this embodiment: the fixed rod 51 is fixedly installed on one side inside the main body box 31, the first control rod 53, the second control rod 54 and the third control rod 55 are rotatably connected with the fixed rod 51 through the connecting block 52, the first control rod 53 and the second control rod 54 are symmetrically arranged, the third control rod 55 and the first control rod 53 are arranged at right angles, when the third control rod 55 swings left and right, the first control rod 53 and the second control rod 54 can swing along with the third control rod 55, when the robot 3 needs to be controlled to hit balls, the turntable 57 is controlled to rotate through the control motor 56, the two control columns 58 are symmetrically arranged on one side of the turntable 57, when the turntable 57 rotates, the two control columns 58 can be driven to rotate, the first supporting rod 59 and the second supporting rod 518 are respectively rotatably connected with the two control columns 58, when the two control columns 58 rotate, the first supporting rod 59 and the second supporting rod 518 can be driven to move, when the first support rod 59 moves, the third control rod 55 is controlled to swing, so that the first control rod 53 and the second control rod 54 are controlled, when the second control rod 54 swings, the second striking plate 516 on the lower side is controlled to rotate, so that a lower incoming ball is struck, when the first control rod 53 swings, the support frame 512 is controlled through the movable sleeve 510, so that the first striking plate 514 is controlled to move, so that a middle incoming ball is struck, when the second support rod 518 moves, the upper connecting frame 517 is driven to move, so that the upper second striking plate 516 rotates, and a top incoming ball is struck.

It should be noted that: the shooting mechanism 6 is located on the rear side of the second striking plate 516 above the shooting mechanism, the second striking plate 516 is made of a transparent plate, a camera can shoot the condition of the desktop conveniently, and meanwhile the shooting mechanism 6 can be protected.

As shown in fig. 1, 2, 3, 6 and 7;

in combination with the above, the two second striking plates 516 are symmetrically disposed on the upper and lower sides of the first striking plate 514, one side of each of the two second striking plates 516 is rotatably connected to a connecting frame 517, the connecting frame 517 on the upper side is rotatably connected to the second supporting rod 518, and the connecting frame 517 on the lower side is rotatably connected to the second control rod 54.

In this embodiment: through connecting frame 517 and second branch 518 and second control rod 54 be connected, when carousel 57 rotated, second branch 518 and second control rod 54 can rotate simultaneously to make two second hitting boards 516 rotate simultaneously, when second hitting board 516 swung, first hitting board 514 can contract, can not influence second hitting board 516 and hit the ball.

As shown in fig. 1, 2, 3 and 8;

in combination with the above, the shooting mechanism 6 includes a first motor 61, a connecting seat 62, a second connecting rod 63, a movable block 64, a mounting rod 65, a mounting box 66, a motor plate 67, a second motor 68, a first swing link 69, a second swing link 610 and a camera 611, the first motor 61 is fixedly mounted at the top of the inner side of the main body box 31, the connecting seat 62 is located at the top of the main body box 31 and is fixedly connected with the output end of the first motor 61, the movable block 64 is located at the inner side of the connecting seat 62 and is rotatably connected with the inner side wall of the connecting seat 62 through the second connecting rod 63, the mounting rod 65 is fixedly mounted at the top of the movable block 64, the mounting box 66 is fixedly mounted at the top of the mounting rod 65, the motor plate 67 is fixedly mounted at the top of the main body box 31, the second motor 68 is fixedly mounted at one side of the motor plate 67, one end of the first swing link 69 is fixedly connected with the output end of the second motor 68, and the other end is rotatably connected with one end of the second swing link 610, the other end of the second swing link 610 is rotatably connected to the mounting rod 65, and the camera 611 is fixedly mounted on one side of the mounting box 66.

In this embodiment: through being provided with shooting mechanism 6, be convenient for control the shooting angle of camera 611, make the shooting effect of camera 611 better, control connecting seat 62 through first motor 61 and rotate, it carries out the horizontal direction rotation with install bin 66 to drive movable block 64 simultaneously, it carries out vertical direction rotation with second pendulum rod 610 to drive first pendulum rod 69 through second motor 68, make camera 611 do the action of similar nod, be convenient for carry out angular adjustment to the camera 611 of installing on install bin 66, make camera 611 can carry out the shooting of multi-angle, improve the shooting effect.

It should be noted that: the axis of the main shaft of the second motor 68 overlaps with the extension line of the shaft of the second connecting rod 63.

As shown in fig. 1 and 9;

with the above, the locking mechanism 7 is disposed at the connection position of the table 1 and the control shaft 21, the locking mechanism 7 includes a locking seat 71, a thread groove 72, a threaded rod 73 and a handle 74, the locking seat 71 is fixedly mounted at one side of the table 1, the control shaft 21 passes through the locking seat 71, the thread groove 72 is formed in the locking seat 71, the threaded rod 73 is in threaded connection with the thread groove 72, the handle 74 is fixedly mounted at one end of the threaded rod 73, and the other end of the threaded rod is located in the sliding groove 22.

In this embodiment: through being provided with locking mechanism 7, can lock control shaft 21, make control shaft 21 fixed, make things convenient for robot 3 to remove on control shaft 21, make operating personnel's operation more accurate, when the operator needs operate control shaft 21 with the arm, loosen the spacing to control shaft 21 through locking mechanism 7, then carry out the top tight to driving shaft 412 through electronic jar 415 control friction block 416, make driving shaft 412 stall, thereby make robot 3 stop to move, make things convenient for the operator to carry out manual control to control shaft 21 through crank 211, when needing to fix control shaft 21, rotate handle 74, make threaded rod 73 push up tight spout 22 through threaded rod 73 and thread groove 72 threaded connection.

As shown in fig. 1, 2, 3, 6 and 7;

in combination with the above, the top and the bottom of the main body case 31 are both provided with movable slots 37, the second support rod 518 and the second control rod 54 are both located in the corresponding movable slots 37, the inner side wall of the sports playing board 2 is symmetrically provided with goals 23, and one end of the control shaft 21 is fixedly provided with a crank 211.

In this embodiment: through being provided with movable groove 37, make things convenient for second branch 518 and second control lever 54 to move about, goal 23 is installed to the inside wall symmetry of sports mesa 2, and the inside of goal 23 is provided with proximity sensor, conveniently detects the goal, increases the sports nature, and the one end fixed mounting of control shaft 21 has crank 211, is convenient for manually operate control shaft 21.

As shown in fig. 3, 10 and 11;

in combination with the above, the control box 32 is fixedly provided therein with a battery 33, a controller 34, a bluetooth module 35, and a data conversion module 36.

In this embodiment: through being provided with battery 33, be convenient for supply power to electrical components, through being provided with controller 34, be convenient for control electrical components, through being provided with bluetooth module 35, be convenient for carry out signal connection with brake valve lever 12, make brake valve lever 12 can carry out signal connection with controller 34, through being provided with data conversion module 36, can change the image that camera 611 shot, then transmit through bluetooth module 35.

Further, the method comprises the following steps: battery 33 and controller 34 electric connection, supply power to controller 34, driving motor 411, electronic jar 415, control motor 56, first motor 61, second motor 68, bluetooth module 35 all with controller 34 electric connection, control through controller 34, camera 611, the data that proximity sensor gathered carry out data conversion through data conversion module 36, then data conversion module 36 transmits data to controller 34, then carry out signal transmission through bluetooth module 35, the inside of brake valve lever 12 also is provided with bluetooth module 35, bluetooth module 35 through the inside of brake valve lever 12 can carry the signal of telecommunication that brake valve lever 12 produced, one side of table platform 1 is provided with the display screen, bluetooth module 35 can carry out wireless connection with the display screen, can show the image of shooing to camera 611 through the display screen.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. Open drive accuse integrative robot motion controller, including table platform (1), brake valve lever (12) and set up sports mesa (2) on table platform (1), its characterized in that: the inner side wall of the sports table board (2) is movably connected with a control shaft (21), sliding grooves (22) are symmetrically formed in the side surface of the control shaft (21), and a robot (3) is arranged on the side surface of the control shaft (21);

robot (3) are including main part case (31) and control box (32), the inside of main part case (31) is provided with moving mechanism (4) and control mechanism (5), the top of main part case (31) is provided with shoots mechanism (6), main part case (31) and control shaft (21) swing joint.

2. The open drive-control integrated robot motion controller of claim 1, characterized in that: the moving mechanism (4) comprises a mounting plate (41), a first rotating shaft (42), a moving roller (43), a second rotating shaft (44), a first gear (45), a first synchronizing wheel (46), a first synchronizing belt (47), a third rotating shaft (48) and a second synchronizing wheel (49), wherein the mounting plate (41) is fixedly mounted inside the main body box (31), the four corners of the mounting plate (41) are respectively provided with the first rotating shaft (42), the moving roller (43) is fixedly connected with the bottom end of the first rotating shaft (42), the second rotating shaft (44) is rotatably connected with the middle part of the mounting plate (41), the first gear (45) is fixedly mounted at the top end of the second rotating shaft (44), the second rotating shaft (44) is in transmission connection with the first synchronizing belt (47) through the first synchronizing wheel (46) with the first rotating shaft (42) at the same side, and the third rotating shaft (48) is rotatably connected with the middle part of the mounting plate (41), second synchronizing wheel (49) fixed mounting is on the top of third pivot (48), third pivot (48) are connected with first pivot (42) of homonymy through first synchronizing wheel (46) and first synchronous belt (47) transmission, second pivot (44) and third pivot (48) symmetry set up, removal gyro wheel (43) are located the inside of spout (22).

3. The open drive-control integrated robot motion controller of claim 2, characterized in that: the moving mechanism (4) further comprises a mounting frame (410), a driving motor (411), a driving shaft (412), a third synchronizing wheel (413), a second gear (414), an electric cylinder (415) and a friction block (416), the mounting frame (410) is fixedly installed at the top of the mounting plate (41), the driving motor (411) is fixedly installed at the top of the mounting frame (410), the driving shaft (412) is fixedly connected with the output end of the driving motor (411), the side surface of the driving shaft (412) is fixedly provided with the third synchronizing wheel (413) and the second gear (414), the electric cylinder (415) is fixedly installed on the inner side wall of the mounting frame (410), the friction block (416) is fixedly connected with the output end of the electric cylinder (415), the friction block (416) is in contact with the side surface of the driving shaft (412), and the first gear (45) is in meshed connection with the second gear (414), the second synchronous wheel (49) is connected with the third synchronous wheel (413) through synchronous belt transmission.

4. The open drive-control integrated robot motion controller of claim 1, characterized in that: the control mechanism (5) comprises a fixing rod (51), a connecting block (52), a first control rod (53), a second control rod (54), a third control rod (55), a control motor (56), a turntable (57), a control column (58), a first supporting rod (59), a movable sleeve (510), a first connecting rod (511), a supporting frame (512), a sliding seat (513), a first ball hitting plate (514), a supporting column (515), a second ball hitting plate (516) and a second supporting rod (518), the fixing rod (51) is fixedly arranged on one side inside the main body box (31), the connecting block (52) is rotatably connected with one end of the fixing rod (51), the first control rod (53), the second control rod (54) and the third control rod (55) are fixedly connected with the side surface of the connecting block (52), and the first control rod (53) and the second control rod (54) are symmetrically arranged, the third control rod (55) is positioned between the first control rod (53) and the second control rod (54), the control motor (56) is fixedly installed on one side inside the main body box (31), the rotary table (57) is fixedly connected with the output end of the control motor (56), the two control columns (58) are symmetrically arranged on one side of the rotary table (57), the first supporting rod (59) and the second supporting rod (518) are respectively and rotatably connected with the two control columns (58), one end of the first supporting rod (59) is rotatably connected with one end of the third control rod (55), the movable sleeve (510) is movably connected with the side surface of the third control rod (55), the movable sleeve (510) is rotatably connected with the supporting frame (512) through the first connecting rod (511), the supporting frame (512) is fixedly installed on one side of the sliding seat (513), and the sliding seat (513) is movably connected with one side of the main body box (31), the first batting plate (514) is fixedly connected with the other side of the sliding seat (513), the four supporting columns (515) are fixedly installed on one side of the main body box (31), and the two second batting plates (516) are respectively and rotatably connected with the corresponding supporting columns (515).

5. The open drive-control integrated robot motion controller of claim 4, wherein: two second batting board (516) symmetry sets up the upper and lower both sides in first batting board (514), two one side of second batting board (516) all rotates and is connected with link (517), the upside link (517) rotate with second branch pole (518) and are connected, downside link (517) rotate with second control lever (54) and are connected.

6. The open drive-control integrated robot motion controller of claim 1, characterized in that: the shooting mechanism (6) comprises a first motor (61), a connecting seat (62), a second connecting rod (63), a movable block (64), an installation rod (65), an installation box (66), a motor plate (67), a second motor (68), a first swing rod (69), a second swing rod (610) and a camera (611), wherein the first motor (61) is fixedly installed at the top of the inner side of the main body box (31), the connecting seat (62) is located at the top of the main body box (31) and is fixedly connected with the output end of the first motor (61), the movable block (64) is located at the inner side of the connecting seat (62) and is rotatably connected with the inner side wall of the connecting seat (62) through the second connecting rod (63), the installation rod (65) is fixedly installed at the top of the movable block (64), the installation box (66) is fixedly installed at the top end of the installation rod (65), the motor plate (67) is fixedly installed at the top of the main body box (31), second motor (68) fixed mounting is in one side of motor board (67), the one end of first pendulum rod (69) and the output fixed connection of second motor (68), the other end rotates with the one end of second pendulum rod (610) to be connected, the other end and the installation pole (65) of second pendulum rod (610) rotate to be connected, camera (611) fixed mounting is in one side of install bin (66).

7. The open drive-control integrated robot motion controller of claim 1, characterized in that: the utility model discloses a table, including table platform (1), locking mechanism (7), locking seat (71), thread groove (72), threaded rod (73) and handle (74), locking seat (71) fixed mounting is in one side of table platform (1), control shaft (21) passes from the inside of locking seat (71), thread groove (72) have been seted up to the inside of locking seat (71), threaded rod (73) and thread groove (72) threaded connection, the one end fixed mounting of threaded rod (73) has handle (74), and the other end is located the inside of spout (22).

8. The open drive-control integrated robot motion controller of claim 5, wherein: movable grooves (37) are formed in the top and the bottom of the main body box (31), and the second supporting rod (518) and the second control rod (54) are located in the corresponding movable grooves (37).

9. The open drive-control integrated robot motion controller of claim 1, characterized in that: the inside fixed mounting of control box (32) has battery (33), controller (34), bluetooth module (35), data conversion module (36).

10. The open drive-control integrated robot motion controller of claim 1, characterized in that: goals (23) are symmetrically installed on the inner side wall of the sports table board (2), and a crank (211) is fixedly installed at one end of the control shaft (21).

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