CN114028790A

CN114028790A - Table tennis service robot

Info

Publication number: CN114028790A
Application number: CN202111326692.5A
Authority: CN
Inventors: 张海波; 张泽; 冯善辉; 张文; 白姗姗; 刘福川
Original assignee: Shanghai Chuangyi Technology Co ltd
Current assignee: Shanghai Chuangyi Technology Co ltd
Priority date: 2021-11-10
Filing date: 2021-11-10
Publication date: 2022-02-11
Anticipated expiration: 2041-11-10
Also published as: CN114028790B

Abstract

The application provides a table tennis service robot, which comprises a waist mechanism, a ball outlet mechanism and a ball hitting mechanism, wherein the waist mechanism comprises a waist output plate, and the ball outlet mechanism and the ball hitting mechanism are respectively connected to two sides of the waist output plate to realize linkage; the ball-out mechanism is used for launching table tennis to the ball-hitting mechanism, and the ball-hitting mechanism is used for hitting out the table tennis launched by the ball-out mechanism so as to realize automatic service of the table tennis service robot. The utility model provides a go out ball mechanism and batting mechanism and link through waist mechanism in the table tennis service robot, the left arm and the right arm action of simulation human body are served, can let the sportsman easily judge the rotation and the speed of coming the ball, have very big help to sportsman's training.

Description

Table tennis service robot

Technical Field

The application belongs to the technical field of robots, and particularly relates to a table tennis service robot.

Background

Table tennis, as a chinese ball, is played by a large number of amateur and professional players. In order to better assist the athlete in performing daily practice and training, a robot capable of serving balls is needed to assist the athlete in training. There is a need for a table tennis player to be able to determine the serving condition of an opponent, such as the spin and speed of a table tennis ball. The judgment of the serving condition of the opponent is mainly realized by observing the action of the opponent and the motion of the racket. The existing market occupies a larger area, and the extrusion type table tennis service robot mainly extrudes the table tennis through the rubber wheel, so that the table tennis is served in a mode of being launched at a certain speed and in a rotating mode. This approach to serve makes it difficult for the player to determine the spin and speed of the incoming ball, and thus has limited training assistance for the player.

Disclosure of Invention

To overcome, at least to some extent, the problems in the related art, the present application provides a table tennis service robot.

According to the embodiment of the application, the application provides a table tennis service robot, which comprises a waist mechanism, a ball outlet mechanism and a ball hitting mechanism, wherein the waist mechanism comprises a waist output plate, and the ball outlet mechanism and the ball hitting mechanism are respectively connected to two sides of the waist output plate to realize linkage; the ball-out mechanism is used for launching table tennis to the ball-hitting mechanism, and the ball-hitting mechanism is used for hitting the table tennis launched by the ball-out mechanism out so as to realize automatic service of the table tennis service robot.

In the table tennis service robot, the waist mechanism further comprises a waist base, a straight pipe, a waist motor and reducer, a waist output flange and a waist bearing, wherein the waist base is fixedly arranged at the top of the straight pipe, and the waist motor and reducer are arranged in the straight pipe and fixedly connected with the waist base; the output shaft of the waist motor and the reducer is connected with the waist output flange; the waist bearing is sleeved on the waist output flange; the waist output plate is fixedly arranged at the top of the waist output flange; the waist motor and the speed reducer drive the waist output plate to rotate through the waist output flange.

In the table tennis service robot, the ball outlet mechanism comprises a ball conveying pipe, a cover plate, a bottom plate, a ball poking rotating wheel, a ball poking motor, a ball outlet output flange and a marble electromagnet; one end of the ball conveying pipe is connected with the waist output plate, the other end of the ball conveying pipe is connected with the top of the cover plate, and the bottom of the cover plate is connected with the bottom plate;

the ball-poking rotating wheel is arranged in an inner space formed by the cover plate and the bottom plate; the ball-pushing motor is fixedly arranged at the top of the cover plate, and an output shaft of the ball-pushing motor is connected with the ball-pushing rotating wheel through the ball-discharging output flange; a ball outlet bearing is sleeved outside the ball outlet flange;

the pinball electromagnet is fixedly arranged on the bottom plate and used for poking the pinball runner to pop out the table tennis at the popping end.

Furthermore, a gap is formed in the bottom plate along the popping direction of the marble electromagnet, and the width of the gap is smaller than or equal to the diameter of a table tennis ball;

the table tennis ball is poked to the opening by the ball poking rotating wheel, and the table tennis ball is popped out along the length direction of the opening under the action of the marble electromagnet.

Furthermore, a hollow boss is arranged at the top of the cover plate and corresponds to the ball outlet bearing, and a bearing gland is further arranged on the boss.

Furthermore, the ball pushing rotating wheel comprises a rotating disc and a gripper, a flange mounting groove is formed in the center of the rotating disc, and the flange mounting groove is used for mounting the ball output flange;

the grippers are uniformly arranged along the periphery of the turntable at intervals; an arc-shaped notch is formed in the rotary disc between the adjacent grippers.

In the table tennis service robot, the hitting mechanism comprises a shoulder joint, an elbow joint, a wrist joint and a racket component which are connected in sequence; the shoulder joint is connected with the waist output plate.

Further, the shoulder joint comprises a shoulder base, a shoulder motor and speed reducer, a shoulder output flange and a shoulder bearing; the shoulder base is connected with the waist output plate, and the shoulder motor and the reducer are fixedly arranged on the shoulder base; the output shaft of the shoulder motor and the reducer is connected with the shoulder output flange, and the shoulder bearing is sleeved outside the shoulder output flange; the shoulder output flange is connected with the elbow joint; the shoulder motor and the speed reducer drive the elbow joint to rotate through the shoulder output flange.

Still further, the elbow joint comprises an elbow base, an elbow motor and speed reducer, an elbow output flange and an elbow bearing; the elbow base is connected with the shoulder output flange, and the elbow motor and the speed reducer are fixedly arranged on the elbow base; the elbow motor and the output shaft of the speed reducer are connected with the elbow output flange, and the elbow bearing is sleeved on the outer side of the elbow output flange; the elbow motor and the speed reducer drive the wrist joint to rotate through the elbow output flange.

Furthermore, the wrist joint comprises a wrist oscillating bar, a wrist motor, a speed reducer and a wrist output flange; the wrist swing rod is connected with an elbow output flange, and the wrist motor and the speed reducer are fixedly arranged on the wrist swing rod; the output shaft of the wrist motor and the speed reducer is connected with the wrist output flange; the wrist output flange is connected with the racket assembly; the wrist motor and the speed reducer drive the racket assembly to rotate through the wrist output flange.

Still further, the racket assembly includes a racket case, a racket clip and a racket; the racket seat is connected with the wrist output flange, one end of the racket chuck is fixedly connected with the racket seat, and the other end of the racket chuck is fixedly connected with the racket;

and a racket offset connecting rod is connected between the wrist joint and the racket component, and the racket offset connecting rod is arranged to offset a distance of a ping-pong radius between the central line in the length direction of the racket and the central line of the ball hitting mechanism in a zero position state.

In the table tennis service robot, the table tennis service robot further comprises a support mechanism, and the support mechanism comprises a base, a support rod and a support seat; the supporting rod is arranged on the base, and the supporting seat is arranged on the supporting rod; the waist mechanism is connected with the supporting seat.

Furthermore, the table tennis service robot also comprises a ball feeding mechanism, and the ball feeding mechanism is arranged in the supporting mechanism;

the ball feeding mechanism comprises a ball collecting basket, a ball feeding thumb wheel, a ball feeding motor and a ball feeding pipe, the ball collecting basket is arranged on the base, and the ball feeding thumb wheel is arranged at the center of the bottom of the ball collecting basket; the ball feeding motor is connected with the ball feeding thumb wheel; a ball feeding port is formed in the side wall of the ball collecting basket, one end of the ball feeding pipe is connected with the ball feeding port, and the other end of the ball feeding pipe is connected with the ball discharging mechanism; the ball feeding motor is used for driving the ball feeding poking wheel to rotate, and the ball feeding poking wheel is used for poking the table tennis balls in the ball collecting basket to the ball feeding pipe and then conveying the table tennis balls to the ball discharging mechanism.

According to the above embodiments of the present application, at least the following advantages are obtained: the utility model provides a go out ball mechanism and batting mechanism and link through waist mechanism in the table tennis service robot, the left arm and the right arm action of simulation human body are served, can let the sportsman easily judge the rotation and the speed of coming the ball, have very big help to sportsman's training.

The application provides a table tennis service robot adopts the mode of marble electromagnetism marble to pop out the table tennis, recycles the table tennis that hits the ball mechanism and hit and play and pop out, has accomplished the service, and this kind of service mode can make the service interval more stable, and the position that the table tennis touched the racket is more accurate.

The ball feeding mechanism, the ball discharging mechanism and the ball hitting mechanism of the table tennis service robot are integrated, so that the table tennis service robot is compact in structure, higher in integration degree, convenient to assemble, high in precision, low in cost and convenient for mass production; and the ball feeding mechanism, the ball discharging mechanism and the ball hitting mechanism are all in modular design, so that joints can be directly replaced when faults occur.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the invention, as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification of the application, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic view of an overall structure of a table tennis service robot according to an embodiment of the present application.

Fig. 2 is a sectional view of a middle waist mechanism of a table tennis service robot provided in an embodiment of the present application.

Fig. 3 is a schematic view of an overall structure of a ball discharging mechanism in a table tennis service robot according to an embodiment of the present application.

Fig. 4 is a sectional view of a ball discharging mechanism in a table tennis service robot according to an embodiment of the present disclosure.

Fig. 5 is an assembly schematic diagram of a bottom plate and a pinball electromagnet in a ball discharging mechanism of a table tennis service robot according to an embodiment of the present application.

Fig. 6 is a schematic structural view of a ball-poking rotating wheel in a ball-out mechanism of a table tennis service robot according to an embodiment of the present application.

Fig. 7 is a schematic overall structure diagram of a ball striking mechanism in a table tennis service robot according to an embodiment of the present application.

Fig. 8 is a cross-sectional view of a ball striking mechanism in a table tennis service robot according to an embodiment of the present disclosure.

Description of reference numerals:

1. a lumbar mechanism;

11. a waist base; 12. a straight pipe; 13. a waist motor and a reducer; 14. a waist output flange; 15. a waist bearing; 16. a waist output plate;

2. a ball discharging mechanism;

21. a ball conveying pipe;

22. a cover plate; 221. a boss;

23. a base plate; 231. opening the gap;

24. a ball-poking rotating wheel; 241. a turntable; 2411. a flange mounting groove; 242. a gripper; 243. a notch;

25. a ball-poking motor;

26. a ball output flange; 261. a ball discharging bearing; 262. a bearing gland;

27. a marble electromagnet; 28. a photosensor; 29. a first proximity switch;

3. a ball striking mechanism;

31. a shoulder joint; 311. a shoulder base; 312. a shoulder motor and a reducer; 313. a shoulder output flange; 314. a shoulder bearing;

32. an elbow joint; 321. an elbow base; 322. an elbow motor and a speed reducer; 323. an elbow output flange; 324. an elbow bearing;

33. a wrist joint; 331. a wrist swing link; 332. a wrist motor and a reducer; 333. a wrist output flange;

34. a racket assembly; 341. a racket seat; 342. a racket chuck; 343. a racket; 344. a second proximity switch;

35. a racket biasing link;

4. a support mechanism; 41. a base; 42. a support bar; 43. a supporting seat; 44. a universal wheel; 45. adjusting a hand wheel;

5. a ball feeding mechanism; 51. a ball collecting basket; 52. a ball sending thumb wheel; 53. a ball feeding pipe;

6. a core control board;

7. a table tennis ball.

Detailed Description

For the purpose of promoting a clear understanding of the objects, aspects and advantages of the embodiments of the present application, reference will now be made to the accompanying drawings and detailed description, wherein like reference numerals refer to like elements throughout.

The illustrative embodiments and descriptions of the present application are provided to explain the present application and not to limit the present application. Additionally, the same or similar numbered elements/components used in the drawings and the embodiments are used to represent the same or similar parts.

As used herein, "first," "second," …, etc., are not specifically intended to mean in a sequential or chronological order, nor are they intended to limit the application, but merely to distinguish between elements or operations described in the same technical language.

As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.

As used herein, "and/or" includes any and all combinations of the described items.

References to "plurality" herein include "two" and "more than two"; reference to "multiple sets" herein includes "two sets" and "more than two sets".

Certain words used to describe the present application are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the present application.

As shown in fig. 1, the table tennis service robot provided in the embodiment of the present application includes a waist mechanism 1, a ball discharging mechanism 2, and a ball hitting mechanism 3, where two sides of the waist mechanism 1 are respectively connected to the ball discharging mechanism 2 and the ball hitting mechanism 3, the ball discharging mechanism 2 is configured to launch a table tennis ball to the ball hitting mechanism 3, and the ball hitting mechanism 3 is configured to hit the table tennis ball launched by the ball discharging mechanism 2, so as to implement automatic service of the table tennis service robot.

In the present embodiment, as shown in fig. 2, the lumbar mechanism 1 includes a lumbar base 11, a straight pipe 12, a lumbar motor and reducer 13, a lumbar output flange 14, a lumbar bearing 15, and a lumbar output plate 16, wherein the lumbar base 11 is fixedly disposed on the top of the straight pipe 12, and the lumbar motor and reducer 13 is disposed in the straight pipe 12 and is fixedly connected to the lumbar base 11. The output shaft of the waist motor and the reducer 13 is connected with a waist output flange 14 through a key. The waist bearing 15 is fitted over the waist output flange 14 and serves for support and rotation. A waist output plate 16 is fixedly disposed atop the waist output flange 14. The waist motor and the reducer 13 drive the waist output plate 16 to rotate through the waist output flange 14.

The ball discharging mechanism 2 and the ball hitting mechanism 3 are respectively connected to two sides of the waist output plate 16 so as to realize linkage of the ball discharging mechanism 2 and the ball hitting mechanism 3.

In the present embodiment, as shown in fig. 3 and 4, the ball discharging mechanism 2 includes a ball conveying pipe 21, a cover plate 22, a bottom plate 23, a ball-dialing wheel 24, a ball-dialing motor 25, a ball discharging flange 26, and a marble electromagnet 27. Wherein, one end of the ball conveying pipe 21 is connected with the waist output plate 16, the other end thereof is connected with the top of the cover plate 22, and the bottom of the cover plate 22 is connected with the bottom plate 23. The ball paddle wheel 24 is disposed in the interior space formed by the shroud 22 and the bottom plate 23. The ball-pushing motor 25 is fixedly arranged on the top of the cover plate 22 through a motor support, and an output shaft of the ball-pushing motor 25 is connected with the ball-pushing rotating wheel 24 through a ball-discharging output flange 26. One end of the ball output flange 26 is fixedly connected with the ball-shifting rotating wheel 24, and the other end thereof extends out of the cover plate 22 and is connected with an output shaft of the ball-shifting motor 25. The ball output bearing 261 is sleeved outside the ball output flange 26, and the ball output bearing 261 plays a role in supporting and rotating.

As shown in fig. 5, the marble electromagnet 27 is fixedly provided on the bottom plate 23. Along the popping direction of the marble electromagnet 27, a notch 231 is arranged on the bottom plate 23, and the width of the notch 231 is less than or equal to the diameter of the table tennis 7.

In order to ensure that the ball-pulling wheel 24 rotates more smoothly relative to the bottom plate 23 when pulling the table tennis ball 7, the opposite end of the connecting end of the ball-pulling wheel 24 and the ball-discharging flange 26 is spaced from the bottom plate 23 by a preset distance.

When the table tennis 7 enters the inner space formed by the cover plate 22 and the bottom plate 23 through the ball conveying pipe 21, the ball pulling motor 25 drives the ball pulling rotating wheel 24 to rotate relative to the bottom plate 23 through the ball output flange 26, the table tennis is pulled to the opening 231 of the bottom plate 23 by the ball pulling rotation, and the table tennis is popped out along the length direction of the opening 231 under the action of the marble electromagnet 27 so as to realize serving.

The slit 231 has a longitudinal direction that coincides with the ejection direction of the marble electromagnet 27, and a width direction that is perpendicular to the ejection direction of the marble electromagnet 27 in the same horizontal plane.

The ball outlet mechanism 2 adopted by the table tennis service robot provided by the embodiment of the application pops out the table tennis through the ejection mode of the marble electromagnet 27, so that the marble position is more accurate and the marble time interval is more stable.

In a specific embodiment, as shown in fig. 3, a hollow boss 221 is disposed on the top of the cover plate 22 at a position corresponding to the ball bearing, and a bearing cover 262 is further disposed on the boss 221, wherein the bearing cover 262 is used for pressing the ball bearing in the boss 221.

In a specific embodiment, as shown in fig. 6, the ball-dialing wheel 24 includes a rotary plate 241 and a hand grip 242, a flange mounting groove 2411 is formed at the center of the rotary plate 241, and the flange mounting groove 2411 is used for mounting the ball output flange 26, so that the ball-dialing wheel 24 can be connected with the ball-dialing motor 25 through the ball output flange 26. The grips 242 are spaced evenly along the periphery of the dial 241. An arc-shaped notch 243 is formed in the rotating disc 241 between the adjacent grippers 242, and the arc-shaped notch 243 is matched with the shape of the table tennis ball. Specifically, the handle 242 may be integrally formed with the dial 241, or may be fixedly connected to the dial 241. The number of the grippers 242 may be 2 or more.

In a specific embodiment, as shown in fig. 3 and 4, the ball discharging mechanism 2 further includes a photoelectric sensor 28, wherein the photoelectric sensor 28 includes a transmitter and a receiver, and the transmitter and the receiver are both disposed on the ball conveying pipe 21 and are located on the same straight line. The transmitter is used for transmitting optical signals, and the receiver is used for receiving the optical signals transmitted by the transmitter. When table tennis balls pass through the ball conveying pipe 21, the table tennis balls can block a light path between the transmitter and the receiver, so that the receiver cannot receive optical signals transmitted by the transmitter. Whether table tennis passes through the ball conveying pipe 21 is judged by judging whether the receiver can receive the optical signal transmitted by the transmitter when the receiver works normally.

In a specific embodiment, as shown in fig. 4, the ball discharging mechanism 2 further comprises a first proximity switch 29, and the first proximity switch 29 is disposed on the cover plate 22 near the opening 231 and is used for detecting whether the table tennis ball reaches a preset position at a preset distance from the opening 231.

In the present embodiment, as shown in fig. 7, the ball striking mechanism 3 includes a shoulder joint 31, an elbow joint 32, a wrist joint 33, and a racket assembly 34, which are connected in this order. The shoulder joint 31 is connected to the lumbar output plate 16.

As shown in fig. 8, the shoulder joint 31 includes a shoulder base 311, a shoulder motor and reducer 312, a shoulder output flange 313, and a shoulder bearing 314. The shoulder base 311 is connected to the lumbar output plate 16, and the shoulder motor and the reducer 312 are fixedly provided on the shoulder base 311. The output shaft of the shoulder motor and reducer 312 is connected with a shoulder output flange 313, a shoulder bearing 314 is sleeved outside the shoulder output flange 313, and the shoulder bearing 314 plays a role in supporting and rotating. The shoulder output flange 313 is connected to the elbow joint 32. The shoulder motor and reducer 312 drives the elbow joint 32 to rotate through the shoulder output flange 313, so that the elbow joint 32 can be driven to rotate by the shoulder joint 31.

As shown in fig. 8, elbow joint 32 includes an elbow base 321, an elbow motor and reducer 322, an elbow output flange 323, and an elbow bearing 324. The elbow base 321 is connected with the shoulder output flange 313, and the elbow motor and the speed reducer 322 are fixedly arranged on the elbow base 321. An output shaft of the elbow motor and speed reducer 322 is connected with an elbow output flange 323, an elbow bearing 324 is sleeved outside the elbow output flange 323, and the elbow bearing 324 plays a role in supporting and rotating. Elbow output flange 323 is connected to wrist joint 33. The elbow motor and the speed reducer 322 drive the wrist joint 33 to rotate through the elbow output flange 323, so that the wrist joint 33 can be driven to rotate by the elbow joint 32.

As shown in fig. 8, the wrist joint 33 includes a wrist swing link 331, a wrist motor and reducer 332, and a wrist output flange 333. The wrist swing link 331 is connected with the elbow output flange 323, and the wrist motor and the reducer 332 are fixedly arranged on the wrist swing link 331. The output shaft of the wrist motor and reducer 332 is connected to a wrist output flange 333. The wrist output flange 333 is connected to the racquet assembly 34. The wrist motor and reducer 332 rotates the racket assembly 34 via the wrist output flange 333, so that the racket assembly 34 can rotate under the driving of the wrist joint 33.

As shown in FIG. 8, racquet assembly 34 includes a racquet base 341, a racquet collet 342, and a racquet 343. The racket seat 341 is connected to the wrist output flange 333, and one end of the racket chuck 342 is fixedly connected to the racket seat 341, and the other end is fixedly connected to the racket 343.

The wrist swing link 331 is provided with a second proximity switch 344, and the second proximity switch 344 is used for detecting the condition that the ball receiving mechanism 2 launches table tennis balls.

In a specific embodiment, as shown in fig. 7, a bat offset link 35 is further connected between the wrist joint 33 and the bat assembly 34, and the bat offset link 35 is arranged to offset the center line of the bat 343 in the length direction from the center line of the striking mechanism 3 in the zero position by a ping-pong radius, so as to ensure that the center of the ping-pong ball is always located on the center line of the wrist joint 33 when the striking mechanism 3 strikes the ball, thereby ensuring that the ping-pong ball is placed on the table more accurately and stably.

It should be noted that the shoulder motor and reducer 312 and the wrist motor and reducer 332 are disposed along the length direction of the ball striking mechanism 3, and the elbow motor and reducer 322 are disposed along the direction perpendicular to the shoulder motor and reducer 312, so that the racket 343 can flexibly rotate in space.

In another embodiment, as shown in fig. 1, the table tennis service robot provided by the embodiment of the present application further includes a support mechanism 4, and the support mechanism 4 functions as a support and a counterweight. The supporting mechanism 4 includes a base 41, a supporting rod 42 and a supporting seat 43. The base 41 is provided with a support rod 42, and the support rod 42 is provided with a support seat 43. The straight tube 12 in the lumbar mechanism 1 may be connected to the support base 43 by a snap fit.

The base 41 is provided at its bottom with universal wheels 44 to facilitate movement of the support mechanism 4.

The base 41 is further provided with an adjusting hand wheel 45, and the supporting mechanism 4 can be lifted up integrally through adjustment of the adjusting hand wheel 45. After the supporting mechanism 4 is moved to a desired position by the universal wheel 44, the supporting mechanism 4 can be lifted up integrally by the adjusting hand wheel 45, so that the universal wheel 44 is separated from the bottom surface, and the supporting mechanism 4 is supported on the bottom surface by the adjusting hand wheel 45.

In another embodiment, as shown in fig. 1, the table tennis service robot provided by the embodiment of the present application further includes a ball feeding mechanism 5. The ball feed mechanism 5 may be provided in the support mechanism 4.

The ball feeding mechanism 5 includes a ball collecting basket 51, a ball feeding dial 52, a ball feeding motor (not shown in the figure), and a ball feeding pipe 53, the ball collecting basket 51 is provided on the base 41, and the ball feeding dial 52 is provided at the bottom center of the ball collecting basket 51. A ball feeding motor may be provided in an inner space between the ball collecting basket 51 and the base 41, and the ball feeding motor is connected to the ball feeding thumb wheel 52. The side wall of the ball collecting basket 51 is provided with a ball feeding port, one end of a ball feeding pipe 53 is connected with the ball feeding port, and the other end of the ball feeding pipe is connected with the ball conveying pipe 21. The ball feeding motor drives the ball feeding thumb wheel 52 to rotate, and the table tennis in the ball collecting basket 51 is stirred by the ball feeding thumb wheel 52 and is transmitted to the ball discharging mechanism 2 through the ball feeding pipe 53.

In another embodiment, as shown in fig. 1, the table tennis service robot provided by the embodiment of the present application further includes a core control board 6, and the core control board 6 may be disposed on the waist output board 16.

The waist motor and reducer 13, the shoulder motor and reducer 312, the elbow motor and reducer 322, the wrist motor and reducer 332, the ball-poking motor 25, the marble electromagnet 27, the ball-feeding motor, the photoelectric sensor 28, the first proximity switch 29 and the second proximity switch 344 are all connected with the core control board 6. The core control board 6 controls the motion of each joint motor and processes sensor signals, all motors of the whole machine are controlled in a closed loop mode, and a driver is integrated at the tail end of each motor, so that a complex connection mode is avoided. The core control board 6 is controlled by a CAN bus, and each joint motor transmits and receives data through a CAN bus interface. Compared with the mode of adopting the driver to control the motor to operate in the prior art, the CAN bus control is adopted in the application, the wiring mode CAN be simplified, and the anti-interference performance is greatly enhanced.

In the table tennis service robot provided by the embodiment of the application, the waist output flange 14, the ball output flange 26, the shoulder output flange 313, the elbow output flange 323, the wrist output flange 333, bearings, the motor and the speed reducer are all made of metal parts, and other structural parts are all made of plastic materials, so that the effects of light weight and high tail end output speed are achieved.

The service control method of the table tennis service robot provided by the embodiment of the application comprises the following steps:

and S1, initializing to enable each joint motor to be in a zero position state.

And S2, calculating the operation parameters of the joint motors of the ball hitting mechanism 3 and the rotating speed of the ball dialing motor 25 in the ball discharging mechanism 2 according to the serving direction, the ball speed, the rotation and the frequency input by the user.

S3, controlling the operation of each joint motor according to the operation parameters of each joint motor, enabling each joint to reach a preset position, enabling the tail end racket 343 to correspondingly reach the preset position, and meanwhile, controlling the ball poking rotating wheel 24 to rotate by the core control board 6, so as to drive the table tennis to turn to the position of the pinball electromagnet 27, and completing the pinball bouncing by the pinball electromagnet 27 in the ball outlet mechanism 2.

S4, the core control board 6 controls the ball hitting mechanism 3 to move, so that the ball hitting mechanism 3 drives the bat 343 to reach the same position with the center of the bat 343 at the same time after the table tennis ball moves for a preset time, the ball hitting function of the bat 343 is realized, and the top spin ball, the bottom spin ball or the spin-free ball is hit according to the requirement.

Compared with the ball squeezing mode of the serving robot in the prior art, the serving robot provided by the embodiment of the application can enable the serving interval to be more stable by adopting the pinball electromagnet 27 pinball mode, and the position of the table tennis contacting the bat 343 is more accurate. The table tennis service robot provided by the embodiment of the application integrates the ball sending mechanism 5, the ball discharging mechanism 2 and the ball hitting mechanism 3, and is compact in structure and higher in integration degree. The table tennis service robot provided by the embodiment of the application has the advantages of compact structure, convenience in assembly, high precision, low cost and convenience in mass production; and light in weight and convenient to carry. The table tennis service robot provided by the embodiment of the application has the advantages of high terminal rotating speed and large output torque. The table tennis service robot that this application embodiment provided adopts CAN bus control to each motor, walks the line simply, and the modularization is strong, and the troubleshooting of being convenient for goes wrong. Each joint in the table tennis service robot that this application embodiment provided all adopts the modularized design, can directly change the joint when breaking down.

The embodiments of the present application described above may be implemented in various hardware, software code, or a combination of both. For example, embodiments of the present application may also represent program code for performing the above-described methods in a data signal processor. The present application may also relate to various functions performed by a computer processor, digital signal processor, microprocessor, or field programmable gate array. The processor described above may be configured in accordance with the present application to perform certain tasks by executing machine-readable software code or firmware code that defines certain methods disclosed herein. Software code or firmware code may be developed to represent different programming languages and different formats or forms. Different target platforms may also be represented to compile the software code. However, different code styles, types, and languages of software code and other types of configuration code for performing tasks according to the present application do not depart from the spirit and scope of the present application.

The foregoing is merely an illustrative embodiment of the present application, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present application shall fall within the protection scope of the present application.

Claims

1. A table tennis service robot is characterized by comprising a waist mechanism, a ball outlet mechanism and a ball hitting mechanism, wherein the waist mechanism comprises a waist output plate, and the ball outlet mechanism and the ball hitting mechanism are respectively connected to two sides of the waist output plate to realize linkage; the ball-out mechanism is used for launching table tennis to the ball-hitting mechanism, and the ball-hitting mechanism is used for hitting the table tennis launched by the ball-out mechanism out so as to realize automatic service of the table tennis service robot.

2. The table tennis serving robot of claim 1, wherein the waist mechanism further comprises a waist base, a straight pipe, a waist motor and reducer, a waist output flange and a waist bearing, the waist base is fixedly arranged at the top of the straight pipe, and the waist motor and reducer are arranged in the straight pipe and fixedly connected with the waist base; the output shaft of the waist motor and the reducer is connected with the waist output flange; the waist bearing is sleeved on the waist output flange; the waist output plate is fixedly arranged at the top of the waist output flange; the waist motor and the speed reducer drive the waist output plate to rotate through the waist output flange.

3. The table tennis service robot of claim 1, wherein the ball discharge mechanism comprises a ball delivery tube, a cover plate, a bottom plate, a ball-pushing rotating wheel, a ball-pushing motor, a ball discharge flange and a pinball electromagnet; one end of the ball conveying pipe is connected with the waist output plate, the other end of the ball conveying pipe is connected with the top of the cover plate, and the bottom of the cover plate is connected with the bottom plate;

4. The table tennis service robot of claim 3, wherein a notch is formed in the bottom plate along the ejection direction of the marble electromagnet, and the width of the notch is less than or equal to the diameter of a table tennis ball;

5. The table tennis service robot of claim 3, wherein a hollow boss is disposed at a position corresponding to the ball outlet bearing at the top of the cover plate, and a bearing gland is further disposed on the boss.

6. The table tennis service robot of claim 3, wherein the ball pushing wheel comprises a rotary disc and a gripper, a flange mounting groove is formed in the center of the rotary disc, and the flange mounting groove is used for mounting the ball output flange;

7. The table tennis service robot of claim 1, wherein the ball striking mechanism comprises a shoulder joint, an elbow joint, a wrist joint, and a paddle assembly connected in series; the shoulder joint is connected with the waist output plate.

8. The table tennis service robot of claim 7, wherein the shoulder joint comprises a shoulder base, a shoulder motor and reducer, a shoulder output flange, and a shoulder bearing; the shoulder base is connected with the waist output plate, and the shoulder motor and the reducer are fixedly arranged on the shoulder base; the output shaft of the shoulder motor and the reducer is connected with the shoulder output flange, and the shoulder bearing is sleeved outside the shoulder output flange; the shoulder output flange is connected with the elbow joint; the shoulder motor and the speed reducer drive the elbow joint to rotate through the shoulder output flange.

9. The table tennis service robot of claim 8, wherein the elbow joint comprises an elbow base, an elbow motor and reducer, an elbow output flange, and an elbow bearing; the elbow base is connected with the shoulder output flange, and the elbow motor and the speed reducer are fixedly arranged on the elbow base; the elbow motor and the output shaft of the speed reducer are connected with the elbow output flange, and the elbow bearing is sleeved on the outer side of the elbow output flange; the elbow motor and the speed reducer drive the wrist joint to rotate through the elbow output flange.

10. The table tennis service robot of claim 9, wherein the wrist joint comprises a wrist swing link, a wrist motor and reducer, and a wrist output flange; the wrist swing rod is connected with an elbow output flange, and the wrist motor and the speed reducer are fixedly arranged on the wrist swing rod; the output shaft of the wrist motor and the speed reducer is connected with the wrist output flange; the wrist output flange is connected with the racket assembly; the wrist motor and the speed reducer drive the racket assembly to rotate through the wrist output flange.

11. The table tennis service robot of claim 10, wherein the paddle assembly comprises a paddle mount, a paddle collet, and a paddle; the racket seat is connected with the wrist output flange, one end of the racket chuck is fixedly connected with the racket seat, and the other end of the racket chuck is fixedly connected with the racket;

12. The table tennis service robot of claim 1, further comprising a support mechanism, the support mechanism comprising a base, a support bar, and a support base; the supporting rod is arranged on the base, and the supporting seat is arranged on the supporting rod; the waist mechanism is connected with the supporting seat.

13. The table tennis service robot of claim 12, further comprising a ball feed mechanism disposed in the support mechanism;