CN203123498U - Five-degree-of-freedom high-simulation table tennis serving manipulator - Google Patents
Five-degree-of-freedom high-simulation table tennis serving manipulator Download PDFInfo
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- CN203123498U CN203123498U CN 201320060324 CN201320060324U CN203123498U CN 203123498 U CN203123498 U CN 203123498U CN 201320060324 CN201320060324 CN 201320060324 CN 201320060324 U CN201320060324 U CN 201320060324U CN 203123498 U CN203123498 U CN 203123498U
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- table tennis
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Abstract
The utility model discloses a five-degree-of-freedom high-simulation table tennis serving manipulator which comprises a machine frame, a ball falling device and a ball hitting device, wherein the ball falling device and the ball hitting device are arranged on the machine frame. The ball hitting device comprises a first fixing frame, a second fixing frame, a third fixing frame, a fourth fixing frame, a fifth fixing frame and a racket, wherein the first fixing frame moves along the X direction and is connected with a first drive, the second fixing frame moves along the Z direction and is connected with a second drive, the third fixing frame moves along the Y direction and is connected with a third drive, the fourth fixing frame turns around the Z direction, the fifth fixing frame turns around the X direction, and the racket is fixed on the fifth fixing frame. The simulation table tennis serving manipulator can simulate arm motions of a real person, the racket can move forwards and backwards, leftwards and rightwards and upwards and downwards and can respectively revolve around the X-axis and the Z-axis, and the table tennis serving manipulator adopts PLC control techniques, can change ball serving speeds, ball serving strength, ball serving heights and angles and the like through remote control, can simulate manual ball serving and achieves a random ball serving effect.
Description
Technical field
The utility model relates to a kind of service manipulator of table tennis, specifically is a kind of electric liquid linked system and the high emulation service of table tennis robot manipulator structure of the PLC of employing control.
Background technology
The table tennis automatic pitching machine of home and overseas has all been obtained certain achievement, various table tenning ball servicing machine all has pluses and minuses separately, find after the analysis-by-synthesis, these service robots are because the restriction of self structure, all can not carry out automatic control fully, the realization of some function needs manual adjustments, simultaneously, the service pattern is single, simulation true man service that can not be real.
Summary of the invention
Technical problem to be solved in the utility model is at above-mentioned the deficiencies in the prior art, and a kind of high emulation table tennis ball serving machinery hand with five degree of freedom that can simulate true man's service is provided.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is:
A kind of high emulation table tennis ball serving machinery hand of five degree of freedom comprises frame and is arranged on falling sphere device and ball striking device on the frame, and it is characterized in that: described ball striking device comprises:
One first fixed mount that moves along directions X is connected with one at this first fixed mount and is used for driving this first fixed mount in mobile first the driving of described frame;
One second fixed mount that moves along the Z direction is connected with one at this second fixed mount and is used for driving this second fixed mount in mobile second the driving of described first fixed mount;
One the 3rd fixed mount that moves along Y-direction is connected with one at the 3rd fixed mount and is used for driving the 3rd fixed mount in the 3rd mobile driving of described second fixed mount;
One the 4th fixed mount around the rotation of Z direction is connected with one at the 4th fixed mount and is used for driving second servomotor or the gas motor that the 4th fixed mount rotates at described the 3rd fixed mount;
One the 5th fixed mount that rotates around directions X is connected with one at the 5th fixed mount and is used for driving first servomotor that the 5th fixed mount rotates at described the 4th fixed mount;
One racket is fixed on described the 5th fixed mount.
Described first driving is Driven by Hydraulic Cylinder; Described second driving is that pneumatic cylinder drives; Described the 3rd driving is that pneumatic cylinder drives.
Comprise that also one reclaims ball device, this recovery ball device comprises collection ball bucket and is connected the return of serve pipe that collects under the ball bucket, also is provided with first group of ball mechanism between collection ball bucket and return of serve pipe.
Described first group of ball mechanism comprises dials ball wheel carrier and stepper motor, and described stepper motor is connected with group ball wheel carrier.
Described falling sphere device comprises the falling sphere pipe and is positioned at second group of ball mechanism of the falling sphere mouth of pipe.
Described second group of ball mechanism comprises the driving cylinder that a baffle plate and is connected with baffle plate.
The utility model emulation service robot, the action of simulates real human arm, racket realizes forwards, backwards, about, up and down with respectively around X, the motion of Z axle, adopt a hydraulic cylinder control move left and right, two cylinders are controlled front and back and the motion of both direction up and down respectively, servomotor and second servomotor or gas motor control racket are around X, the motion of Z axle, also adopted the less relatively pneumatic cylinder of another one to carry out falling sphere, it is the falling sphere cylinder, transmit ball with a speed governing stepper motor simultaneously, improve the efficient of service robot.This service robot using PLC control technology realizes changing by Long-distance Control the function of service speed, service dynamics, service height and angle etc., and simulation is manually served a ball, and realizes the effect of service at random.
Description of drawings
Fig. 1 structural representation of the present utility model.
The side view of Fig. 2 Fig. 1.
The A of Fig. 3 Fig. 1 is to schematic diagram.
The integral body control schematic diagram of Fig. 4 the utility model manipulator.
Wherein: 1, the service gear, 2, stepper motor, 3, frame, 4, the larynx hoop, 5, first fixed mount, 6, the end cap pull bar, 7, guide rail, 8, double acting double piston-rod hydraulic cylinder, 9, the flexible conduit of losing, 10, second fixed mount, 11, the double acting single piston rod cylinder, 12, magnetic switch, 13, the 3 position-5 way solenoid directional control valve, 14, guide post, 15, first servomotor, 16, second servomotor or gas motor, 17, the racket anchor clamps, 18, cantilever shalving, 19, the service support, 20, suspension holdfast, 21, buffering double acting single piston rod cylinder, 22, the 3rd fixed mount, 23, the 4th fixed mount, 24, the 5th fixed mount, 25, racket, 26, collection ball bucket, 27, base, 28, the stepper motor support, 29, cable, 30, the air pressure pipeline, 31, service robot, 32, switch board, 33, air compressor machine.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is elaborated:
As shown in Figure 1 and Figure 2, the utility model service robot manipulator structure comprises frame 1 and is arranged on falling sphere device on the frame 1, ball striking device and three parts of recovery ball device.
Reclaim ball device and adopt the ball system that reclaims, mainly form by reclaiming net, air ball return, stepper motor, group ball wheel carrier and return of serve pipe.By reclaiming net, by the slope, set is reclaimed net and also can be adopted collection ball bucket 26 to replace to the air ball return the ball that is scattered.The return of serve pipe is fixed on the frame 1 by larynx hoop 4, table tennis effect owing to gravity in the air ball return falls to entering the pipe of returning serve, stepper motor 28 drove and dialled the ball wheel carriers and turn an angle and drive table tennis and overcome the gravity effect enter into and treat falling sphere from the return of serve pipe this moment, waited to be launched.
The falling sphere device adopts the falling sphere system, and first kind of structure is mainly by the falling sphere pipe, control formations such as Y, two cylinders, suckers and sensors of the motion of Z axle both direction and corresponding fixed mechanism respectively.The main effect of falling sphere mechanism is to cooperate sucker absorption table tennis by cylinder, intermittently will treat that the table tennis at falling sphere place is transported to the ball-falling-in port place and finishes falling sphere, and so forth, realizes the intermittent cyclic service of table tennis.Utilize simultaneously sensor send synchronously signal to kicking machine make it the motion bat.
Second kind of structure of falling sphere system mainly is made up of with the second group of ball mechanism that is positioned at the falling sphere mouth of pipe the falling sphere pipe, wherein second group of ball mechanism comprises baffle plate and the cylinder composition that is connected with baffle plate, intermitten by cylinder makes baffle plate move, thus falling table tennis intermittence.
Thereby the third structure of falling sphere system mainly drives falling sphere gear falling table tennis intermittence by the speed governing stepper motor.
The return of serve pipe of the falling sphere pipe of falling sphere device and recovery ball device connects into an integral body by the flexible conduit 9 of losing.
Ball striking device adopts the batting system, and the batting system is made up of chassis travel mechanism and high emulation table tennis kicking machine two parts:
1) chassis travel mechanism: being driven by first fixed mount 5 and first is that hydraulic cylinder is formed, and wherein first driving is double acting double piston-rod hydraulic cylinder 8, and double acting double piston-rod hydraulic cylinder 8 drives first fixed mount 5 along the controlled movement of ping-pong table limit X-direction.Be provided with guide rail 7 in the lower end of first fixed mount 5, by the effect of double acting double piston-rod hydraulic cylinder 8, the guide rail 7 of the fixed mount 5 of winning slided in the guide groove of frame 1.
2) kicking machine: formed by first servomotor 15, second servomotor or gas motor 16, shaft coupling, second driving, the 3rd driving, second fixed mount 10, the 3rd fixed mount 22, the 4th fixed mount 23, the 5th fixed mount 24 and racket 25 etc.Second driving is buffering double acting single piston rod cylinder 21 for double acting single piston rod cylinder 11, the three drives.At second fixed mount 10 guide post 14 is arranged, wherein the 3rd fixed mount 22 is enclosed within on the guide post 14 and with guide post 14 and serves as guiding and move up and down under the effect of double acting single piston rod cylinder 11.Double acting single piston rod cylinder 11 and the 21 cross interlocks in length and breadth of buffering double acting single piston rod cylinder, the motion by two Y-directions of PLC control program realization and Z-direction accurately impacts falling sphere.Square stance is done emulation by the racket anchor clamps 17 fixing rackets 25 of the 5th fixed mount 24 and is hit, and wherein racket anchor clamps 17 are universal clamp mechanism.By first servomotor 15 and second servomotor or gas motor 16 change percussion ball operative configuration, with double acting single piston rod cylinder 11 and the high emulation spiral of buffering double acting single piston rod cylinder 21 combination realization percussions.First servomotor 15 and second servomotor or gas motor 16 are controlled the racket rotation of X-direction and the racket rotation of Z-direction respectively, and realize various screws with this.
The free degree of manipulator is 5, and directions X can be realized stopping at any time with the first hydraulic cylinder control that drives, and realizes that the locus of service is variable, i.e. horizontal mobile cylinder.The cylinder control that Y, Z-direction then drive by second cylinder that drives and the 3rd respectively namely moves forward and backward and vertically moves, and then by the control of another one cylinder, namely cylinder serves as the effect of valve to falling sphere.Then realize by first servomotor and second servomotor or gas motor respectively around two frees degree of X-axis and Z axle rotation in addition, i.e. five controllable degrees of freedom.The input ball device drives service gear 1 by speed governing stepper motor 2 and realizes that course of action is then realized by the control of PLC control system.This table tenning ball servicing machine can be realized the frequency adjustable of serving a ball, and can regulate the size of table tennis rotating speed, and the speed of table tennis ball speed.And can collect table tennis that the sportsman hits back automatically enters storage ball equipment and prepares the circulation service.
The utility model manipulator adopts PLC control, in this mechanism controls part, has adopted FX2n series of PLC---the FX2n of Mitsubishi.Control characteristics based on FX2n, define the control action of each terminal, corresponding stroke top and end in directions X, Y-direction, Z direction all installed travel switch as the signal of PLC, at the falling sphere cylinder position sensor detection falling sphere point is installed and has or not ball, thereby carry table tennis for the motor signal control motor.On directions X, servomotor is installed, adjust the electronic gear of servomotor controller than giving the servomotor pulse, the rotational angle of control racket on directions X.Second servomotor or gas motor are installed on the Z direction, drive the rotation of racket.More than these control signals finish by PLC, and according to the subprogram of the service kind PLC option program inner setting of setting, finish the service process.
The hand getting of the high emulation table tennis ball serving machinery of the utility model five degree of freedom is controlled the ball that ping-pong bat sends prior setting with PLC control electricity, gas, liquid interlock mode, its The whole control figure as shown in Figure 4, a plurality of driving cylinders of service robot 31 are connected to air compressor machine 33 by air pressure pipeline 30, and stepper motor and servomotor then are connected to switch board 32 by cable.
Claims (6)
1. the high emulation table tennis ball serving of five degree of freedom machinery hand comprises frame and is arranged on falling sphere device and ball striking device on the frame, and it is characterized in that: described ball striking device comprises:
One first fixed mount that moves along directions X is connected with one at this first fixed mount and is used for driving this first fixed mount in mobile first the driving of described frame;
One second fixed mount that moves along the Z direction is connected with one at this second fixed mount and is used for driving this second fixed mount in mobile second the driving of described first fixed mount;
One the 3rd fixed mount that moves along Y-direction is connected with one at the 3rd fixed mount and is used for driving the 3rd fixed mount in the 3rd mobile driving of described second fixed mount;
One the 4th fixed mount around the rotation of Z direction is connected with one at the 4th fixed mount and is used for driving second servomotor or the gas motor that the 4th fixed mount rotates at described the 3rd fixed mount;
One the 5th fixed mount that rotates around directions X is connected with one at the 5th fixed mount and is used for driving first servomotor that the 5th fixed mount rotates at described the 4th fixed mount;
One racket is fixed on described the 5th fixed mount.
2. the high emulation table tennis ball serving of five degree of freedom according to claim 1 machinery hand is characterized in that: described first drives and is Driven by Hydraulic Cylinder; Described second driving is that pneumatic cylinder drives; Described the 3rd driving is that pneumatic cylinder drives.
3. the high emulation table tennis ball serving of five degree of freedom according to claim 1 and 2 machinery hand, it is characterized in that: comprise that also one reclaims ball device, this recovery ball device comprises collection ball bucket and is connected the return of serve pipe that collects under the ball bucket, also is provided with first group of ball mechanism between collection ball bucket and return of serve pipe.
4. the high emulation table tennis ball serving of five degree of freedom according to claim 3 machinery hand, it is characterized in that: described first group of ball mechanism comprises dials ball wheel carrier and stepper motor, and described stepper motor is connected with group ball wheel carrier.
5. the high emulation table tennis ball serving of five degree of freedom according to claim 3 machinery hand, it is characterized in that: described falling sphere device comprises the falling sphere pipe and is positioned at second group of ball mechanism of the falling sphere mouth of pipe that described falling sphere pipe is connected with described return of serve pipe.
6. the high emulation table tennis ball serving of five degree of freedom according to claim 5 machinery hand, it is characterized in that: described second group of ball mechanism comprises the driving cylinder that a baffle plate and is connected with baffle plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320060324 CN203123498U (en) | 2013-02-04 | 2013-02-04 | Five-degree-of-freedom high-simulation table tennis serving manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320060324 CN203123498U (en) | 2013-02-04 | 2013-02-04 | Five-degree-of-freedom high-simulation table tennis serving manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN203123498U true CN203123498U (en) | 2013-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320060324 Expired - Fee Related CN203123498U (en) | 2013-02-04 | 2013-02-04 | Five-degree-of-freedom high-simulation table tennis serving manipulator |
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| CN (1) | CN203123498U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103083888A (en) * | 2013-02-04 | 2013-05-08 | 南京工程学院 | Five-freedom-degree high-simulation ping-pong-ball serving mechanical hand |
-
2013
- 2013-02-04 CN CN 201320060324 patent/CN203123498U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103083888A (en) * | 2013-02-04 | 2013-05-08 | 南京工程学院 | Five-freedom-degree high-simulation ping-pong-ball serving mechanical hand |
| CN103083888B (en) * | 2013-02-04 | 2015-08-12 | 南京工程学院 | Five degree of freedom height emulation table tennis ball serving machinery hand |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130814 Termination date: 20140204 |