CN206518832U - A kind of robot of automatic picking up table tennis ball - Google Patents
A kind of robot of automatic picking up table tennis ball Download PDFInfo
- Publication number
- CN206518832U CN206518832U CN201621479919.4U CN201621479919U CN206518832U CN 206518832 U CN206518832 U CN 206518832U CN 201621479919 U CN201621479919 U CN 201621479919U CN 206518832 U CN206518832 U CN 206518832U
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- table tennis
- ball
- elastic threads
- picking
- tennis ball
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Abstract
The utility model discloses a kind of robot of automatic picking up table tennis ball, including vehicle body, single-chip microcomputer, steering wheel, power supply, swing arm, ball frame and elastic threads；The front end of described vehicle body is hinged with swing arm；It is fixed with cylindrical pellet frame at the top of swing arm, the front opening of ball frame, back-end closure, and it is fixed with the cross section of opening side some elastic threads being intervally arranged, the diameter for being smaller than treating picking up table tennis ball of adjacent two elastic threads；Cross section residing for elastic threads is less than with the end distance between the surface residing for ball frame opening treats the 1/2 of picking up table tennis ball radius；The power output shaft connection of swing arm bottom and steering wheel, controls its anglec of rotation；Steering wheel is connected with single-chip microcomputer and power supply.The utility model picks up ball machine structure by particular design, realizes the high-efficient automatic for picking table tennis.Moreover, the robot architecture is simple, cost is relatively low.
Description
Technical field
The utility model belongs to robot field, and in particular to a kind of robot of automatic picking up table tennis ball.
Background technology
During daily workout in table tennis training hall, it is one for sportsman to pick the table tennis being scattered throughout
The work that part more consumes one's strength.And studied according to medical care statistics, during strenuous exercise, frequently bend over to pick up after club's increase
The risk of phase sports injuries.
The patent of invention of Application No. 201410109219.5 discloses one kind and picks up ball machine, and it in suction tube back segment by setting
There is suction cabin, it is easy to operate, time saving and energy saving by ball in ball suction cabin, is picked up during ball game, and spheroid can be wiped simultaneously
Bacterium dirt is aspirated, the work difficulty of players is alleviated.But, because the device can not cruise concurrent in table tennis training hall automatically
Existing spheroid, it is therefore necessary to depend on the operation of people, it is impossible to realize automatically picking up balls.The invention of Application No. 201510229859.4
What patent disclosed a kind of ball picker of tennis picks up ball system, and this is picked up ball system and receives infrared distance sensor by central processing unit
Measurement data, and movement instruction is sent to drive system according to related data；Then by drive system, in center, processing is single
Speed change and the turning for the walking process for picking up ball machine are realized under the driving of member.And its ball picking up device, by two degrees of freedom mechanical arm and rudder
Drive circuit is constituted, and completes to press from both sides ball, dribble and put ball using two degrees of freedom mechanical arm to act.The device can realize automation
Pick up ball, but its mechanical arm is applied to tennis, for table tennis to pick up ball effect not good, be easily caused table tennis recessed because of pressure
Fall into.Therefore, at present urgently in a kind of robot of automatic picking up table tennis ball of exploitation.
Utility model content
The purpose of this utility model is to provide a kind of robot of automatic picking up table tennis ball, the concrete technical scheme used
It is as follows：
The robot of automatic picking up table tennis ball, including vehicle body, single-chip microcomputer, steering wheel, power supply, swing arm, ball frame and elastic threads；
The front end of described vehicle body is hinged with swing arm；Cylindrical pellet frame, the front opening of ball frame, rear end seal are fixed with the top of swing arm
Close, and be fixed with the cross section of opening side some elastic threads being intervally arranged, the spacing of adjacent two elastic threads is small
In the diameter for treating picking up table tennis ball；Cross section residing for elastic threads is less than with the end distance between the surface residing for ball frame opening treats picking up table tennis ball
The 1/2 of radius；The power output shaft connection of swing arm bottom and steering wheel, controls its anglec of rotation；Steering wheel and single-chip microcomputer and power supply phase
Even.
Preferably, described vehicle body is additionally provided with infrared sensor, sonac and picture recognition module, it is red
Outer sensor and sonac are arranged at the front end of vehicle body, in vehicular motion detection with objects in front it
Between distance；Picture recognition module is connected with single-chip microcomputer, for gathering forward image and carrying out target identification.
Preferably, described elastic threads are in Pre strained state.
Preferably, described elastic threads are horizontally disposed.
Preferably, the spacing of described elastic threads is treat picking up table tennis ball diameter 1/2~3/4.
The utility model picks up ball machine structure by particular design, realizes the high-efficient automatic for picking table tennis.Moreover, should
Robot architecture is simple, and cost is relatively low.In addition, after being coupled with infrared sensor, sonac and picture recognition module,
Can realize large-scale venue in cruise, automatically picking up balls.
Brief description of the drawings
Fig. 1 is the structural representation of the robot of automatic picking up table tennis ball in the utility model；
Fig. 2 be the utility model in swing arm and ball frame composition pick up ball structural scheme of mechanism.
In figure：Underbody seat 1, infrared sensor 2, sonac 3, single-chip microcomputer 4, bluetooth module 5, steering wheel 6, base 7, electricity
Source 8, swing arm 9, ball frame 10, picture recognition module 11, elastic threads 12 and table tennis 13.
Embodiment
The utility model is further elaborated and illustrated with reference to the accompanying drawings and detailed description.In the utility model
The technical characteristic of each embodiment can carry out respective combination on the premise of not colliding with each other.
As shown in figure 1, a kind of robot of automatic picking up table tennis ball, including vehicle body 1, single-chip microcomputer 4, steering wheel 6, power supply 8,
Swing arm 9, ball frame 10 and elastic threads 12.Vehicle body 1 is a minicar by driven by power, with chassis and four wheels,
The top plane on chassis can as each configuration component carrying platform.Close to the front end position of direction of advance on chassis, it is hinged
There are two swing arms 9.As shown in Fig. 2 two tops of swing arm 9 are fixed with the ball frame 10 for accommodating the table tennis collected.Ball frame 10
In cylinder, front opening, back-end closure, and it is fixed with the cross section of opening side some elastic threads 12.Elastic threads
Rubber band or other flexible bands can be used.Elastic threads 12 are intervally arranged, and are parallel to each other, and can cover whole ball frame
10 cross section.The spacing of adjacent two elastic threads 12 needs to be less than the diameter for treating picking up table tennis ball, and typically settable spacing is to treat
Preferably table tennis 13 can be caught in gap under the 1/2~3/4 of picking up table tennis ball diameter, the spacing.Residing for elastic threads 12
Cross section and ball the frame 10 residing end distance between the surface that is open are less than and treat the 1/2 of picking up table tennis ball radius, therefore work as ball frame 10 contiguously
During face, the cross section maximum of table tennis can enter between two elastic threads 12, realize the collection of table tennis.The bottom of swing arm 9
It is connected with the power output shaft of steering wheel 6, controls its anglec of rotation；Steering wheel 6 is connected with single-chip microcomputer 4 and power supply 8.Power supply 8 is also served as
The wheel driving power of vehicle body 1, single-chip microcomputer 4 also controls the motion of wheel simultaneously.
The characteristics of due to table tennis itself, it is impossible to bear higher pressure, its spheroid otherwise can be caused to be recessed, above-mentioned seizure
Solve to perfect structure table tennis picks problem.
The ball process of picking up of the robot is：Under the conventional sense of swing arm 9, vertically.When needing to pick up ball, vehicle body
1 under the control of single-chip microcomputer 4, to advance towards the direction of table tennis, when close to table tennis, controls steering wheel 6 to revolve by single-chip microcomputer 4
Turn, transfer swing arm 9, table tennis is swung at the opening of ball frame 10, table tennis is caught between two elastic threads 12, when the horizontal stroke of table tennis
After section maximum is by elastic threads 12, table tennis is just collected in ball frame 10.Due to table tennis lighter weight, follow-up
Also the resistance that elastic threads 12 can not be broken through during collection is dropped out again.Ball is picked up in order to be better achieved, elastic threads 12 need place
In Pre strained state, pretightning force can not be excessive, can not be too small, can be adjusted according to test of many times result.In theory, it is elastic
The direction of rope 12 can be towards being arbitrarily radially arranged, but testing surface, under swing arm plumbness, and elastic threads 12 are along level side
Ball best results are picked up to setting, when now below swing arm, elastic threads direction is vertical with vehicle traveling direction.
Such scheme can only realize the semi-automatic collection of table tennis, because vehicle automatic cruising and can not position table tennis
Position, therefore it is contemplated that increase picture recognition module.In another embodiment, it is additionally provided with infrared sensor on vehicle body 1
2nd, sonac 3 and picture recognition module 11, its progress data interaction that is connected with single-chip microcomputer.Infrared sensor 2 and ultrasound
Sensor 3 is arranged at the front end of vehicle body 1, for the distance in vehicular motion between detection and objects in front.Figure
As identification module 11 is positioned on base 7, it is connected with single-chip microcomputer 4, to gather forward image and to carry out target identification.Work as image
When identification module 11 detects the presence of table tennis, the driving moment of single-chip microcomputer 4 is moved towards table tennis target direction, and is being moved through
By infrared sensor 2, sonac 3 while the distance of detecting distance table tennis in journey.When close to ball, automatic perform is picked up
Ball is acted.The reason for using two kinds of sensors is：The fast precision of infrared sensor speed is high, but sensitive for light condition.It is super
The slow precision of sonic transducer speed is low, but will not be influenceed by light condition.Can mutually it be carried out using two kinds of sensors simultaneously
Verification, will not produce larger error.Certainly, it is also required to detect obstacle by two sensors in traveling process, as long as wherein one
The individual obstacle that detects is carried out avoidance program, can improve avoidance efficiency.In the present embodiment, the model of single-chip microcomputer 4
STM32F103ZET6, picture recognition module 11 uses Pixy CMUcam5 models, is commercially available prod.Certain image recognition mould
Block 11 can also be replaced directly with existing smart mobile phone, be connected by the bluetooth module 5 in Fig. 1 with single-chip microcomputer, to reduce into
This.
Embodiment described above is a kind of preferably scheme of the present utility model, so itself and be not used to limit this practicality
It is new., can be with the case where not departing from spirit and scope of the present utility model about the those of ordinary skill of technical field
Make a variety of changes and modification.Therefore the technical scheme that all modes for taking equivalent substitution or equivalent transformation are obtained, all falls within
In protection domain of the present utility model.
Claims (5)
1. a kind of robot of automatic picking up table tennis ball, it is characterised in that including vehicle body (1), single-chip microcomputer (4), steering wheel (6),
Power supply (8), swing arm (9), ball frame (10) and elastic threads (12)；The front end of described vehicle body (1) is hinged with swing arm (9)；Pendulum
It is fixed with cylindrical pellet frame (10) at the top of arm (9), the front opening of ball frame (10), back-end closure, and in the transversal of opening side
It is fixed with some elastic threads being intervally arranged (12) on face, being smaller than of adjacent two elastic threads (12) treats picking up table tennis ball
Diameter；Cross section residing for elastic threads (12) is less than with the end distance between the surface residing for ball frame (10) opening treats picking up table tennis ball radius
1/2；Swing arm (9) bottom is connected with the power output shaft of steering wheel (6), controls its anglec of rotation；Steering wheel (6) and single-chip microcomputer (4) and
Power supply (8) is connected.
2. the robot of automatic picking up table tennis ball as claimed in claim 1, it is characterised in that described vehicle body (1) is also set
It is equipped with infrared sensor (2), sonac (3) and picture recognition module (11), infrared sensor (2) and sonac
(3) front end of vehicle body (1) is arranged at, for the distance in vehicular motion between detection and objects in front；Image
Identification module (11) is connected with single-chip microcomputer (4), for gathering forward image and carrying out target identification.
3. the robot of automatic picking up table tennis ball as claimed in claim 1, it is characterised in that described elastic threads (12) are in pre-
Tight state.
4. the robot of automatic picking up table tennis ball as claimed in claim 1, it is characterised in that described elastic threads (12) Jun Yanshui
Square to setting.
5. the robot of automatic picking up table tennis ball as claimed in claim 1, it is characterised in that the spacing of described elastic threads (12)
To treat the 1/2~3/4 of picking up table tennis ball diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621479919.4U CN206518832U (en) | 2016-12-30 | 2016-12-30 | A kind of robot of automatic picking up table tennis ball |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621479919.4U CN206518832U (en) | 2016-12-30 | 2016-12-30 | A kind of robot of automatic picking up table tennis ball |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206518832U true CN206518832U (en) | 2017-09-26 |
Family
ID=59888811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621479919.4U Expired - Fee Related CN206518832U (en) | 2016-12-30 | 2016-12-30 | A kind of robot of automatic picking up table tennis ball |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206518832U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107875597A (en) * | 2017-12-28 | 2018-04-06 | 苏州花坞信息科技有限公司 | A kind of golf based on artificial intelligence picks up ball machine |
| CN108042995A (en) * | 2017-12-28 | 2018-05-18 | 苏州花坞信息科技有限公司 | A kind of automatic golf based on artificial intelligence picks up ball machine |
| CN110199909A (en) * | 2019-07-07 | 2019-09-06 | 河北农业大学 | One kind picking up egg robot actuating mechanism and its control method |
-
2016
- 2016-12-30 CN CN201621479919.4U patent/CN206518832U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107875597A (en) * | 2017-12-28 | 2018-04-06 | 苏州花坞信息科技有限公司 | A kind of golf based on artificial intelligence picks up ball machine |
| CN108042995A (en) * | 2017-12-28 | 2018-05-18 | 苏州花坞信息科技有限公司 | A kind of automatic golf based on artificial intelligence picks up ball machine |
| CN110199909A (en) * | 2019-07-07 | 2019-09-06 | 河北农业大学 | One kind picking up egg robot actuating mechanism and its control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170926 Termination date: 20201230 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |