CN207871441U - A kind of shuttlecock robot - Google Patents
A kind of shuttlecock robot Download PDFInfo
- Publication number
- CN207871441U CN207871441U CN201721430685.9U CN201721430685U CN207871441U CN 207871441 U CN207871441 U CN 207871441U CN 201721430685 U CN201721430685 U CN 201721430685U CN 207871441 U CN207871441 U CN 207871441U
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- axis
- shuttlecock
- shuttlecock robot
- driving
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Abstract
This application discloses a kind of shuttlecock robots, including：Omni-mobile base apparatus for providing the three degree of freedom rotated on X-axis, Y-axis movement and Z axis for shuttlecock robot；On Omni-mobile base apparatus, the cross guide rail device for providing moved in X-axis and Y-axis two degree of freedom for shuttlecock robot；On cross guide rail device, the ball striking device for providing rotated in X-axis and Z axis two degree of freedom for shuttlecock robot.In this application 7 degree of freedom are provided for shuttlecock robot, so shuttlecock robot can be allowed to realize more return of serve types, and in application, since ball striking device possesses the degree of freedom rotated on Z axis, so substantially increasing the return of serve response speed of shuttlecock robot.
Description
Technical field
The utility model is related to automation control area, more particularly to a kind of shuttlecock robot.
Background technology
With the development of science and technology, the degree of automation of industry-by-industry generally improves, shuttlecock robot can be complete due to it
The pairs of complicated cumbersome training mate process of shuttlecock beginner, so shuttlecock robot becomes a trend of the following training mate.
Shuttlecock robot is allowed to complete task of accurately receiving and return serve in order to realize, must be requested that shuttlecock robot exists
It completes the identification to shuttlecock in short period to position, to drive shuttlecock robot to move quickly into the drop point position of shuttlecock
It sets, realizes the return of serve to shuttlecock.But in the prior art, the batting of shuttlecock robot is complicated, usually more
Place uses screw-rod structure, and the response time is longer, cannot achieve quick return of serve, Er Qiexian for the faster shuttlecock of flying speed
Have shuttlecock robot in technology can movable degree of freedom it is less, return of serve mode is single, cannot achieve a variety of return of serve types,
So what kind of mode to increase the return of serve type of shuttlecock robot by, and improve the response speed fought back shuttlecock
Degree, is those skilled in the art's urgent problem to be solved.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of shuttlecock robot, to improve shuttlecock robot
Degree of freedom and return of serve speed.Its concrete scheme is as follows：
A kind of shuttlecock robot, including：
Omni-mobile for providing the three degree of freedom rotated on X-axis, Y-axis movement and Z axis for shuttlecock robot
Base apparatus；
On the Omni-mobile base apparatus, moved up in X-axis and Y-axis for being provided for the shuttlecock robot
The cross guide rail device of two dynamic degree of freedom；
On the cross guide rail device, provides for the shuttlecock robot and rotated in X-axis and Z axis
The ball striking device of two degree of freedom.
Preferably, the Omni-mobile base apparatus includes：
It is used to support the carrier frame of the Omni-mobile base apparatus；
On the carrier frame, revolved on X-axis, Y-axis movement and Z axis for providing the shuttlecock robot
The suspension arrangement of the three degree of freedom turned；Wherein, the suspension arrangement includes：For driving the carrier frame in X-axis and Y-axis
Mobile driving device, and double yoke link mechanisms for driving the driving device to be rotated in Z axis；
It is installed in the driving device, the running gear for driving the carrier frame movement.
Preferably, the suspension arrangement further includes：
Limiting plate for the two rocking arm spacing for limiting double yoke link mechanisms；
For reducing spin friction resistance, the bearing being mounted in rocking arm.
Preferably, the cross guide rail device includes：
It is used to support the cross moving frame of the cross guide rail device；
On the cross moving frame, the cross driving mechanism for driving the cross moving frame movement；
Wherein, the cross driving mechanism includes：
First motor and the second motor for driving the cross driving mechanism movement；
First motor seat and the second motor cabinet for supporting the first motor and second motor respectively.
Preferably, the cross guide rail device further includes：
Roller bearing for adjusting position of synchronous belt on the cross guide rail device；
Guide rail mounting base for connecting the cross moving frame.
Preferably, further include：
On the Omni-mobile base apparatus, the whole audience of the location information for obtaining the shuttlecock robot
Positioning device.
Preferably, the whole audience positioning device further includes：
Code disc device for obtaining the shuttlecock robot location information；Wherein, the code disc device includes：
Omni-directional wheel for measuring shuttlecock robot displacement distance；
On the omni-directional wheel, the encoder for obtaining the omni-directional wheel rotation angle；
Code-disc mounting plate for fixing the code disc device.
Preferably, the whole audience positioning device further includes：
Gyroscope for obtaining the shuttlecock robot pose information；
Microcontroller for the transmission data for handling the encoder.
Preferably, the ball striking device includes：
Rotating device for driving the racket of the shuttlecock robot to be rotated in X-axis；Wherein, the rotating device packet
It includes：Rotary frame for rotating the rotating device, and the third motor for driving the rotary frame rotation；
On the rotating device, the beating unit for carrying out rotation impact to shuttlecock；Wherein, the impact
Device includes：The 4th motor for driving the racket rotation, and the institute on the motor shaft of the 4th motor
State racket.
Preferably, the rotary frame further includes：
Limited block and/or limit switch for limiting the racket rotation angle.
In the utility model, a kind of shuttlecock robot, including：For being provided in X-axis, Y-axis movement for shuttlecock robot
With the Omni-mobile base apparatus of the three degree of freedom rotated on Z axis；On Omni-mobile base apparatus, for being feather
Ball robot provides the cross guide rail device of two degree of freedom moved in X-axis and Y-axis；On cross guide rail device,
Ball striking device for providing rotated in X-axis and Z axis two degree of freedom for shuttlecock robot.
As it can be seen that in the utility model, since Omni-mobile base apparatus, cross guide rail device and ball striking device are respectively plumage
Ball top robot provides 3 degree of freedom, 2 degree of freedom and 2DOF, in total 7 degree of freedom, it is possible to allow feather ball machine
Device people realizes more return of serve types, and in the utility model, since ball striking device possesses the freedom rotated on Z axis
Degree, so, substantially increase the return of serve response speed of shuttlecock robot.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is the embodiments of the present invention, for those of ordinary skill in the art, without creative efforts, also
Other attached drawings can be obtained according to the attached drawing of offer.
Fig. 1 is a kind of structure chart for shuttlecock robot that the embodiment of the present application one provides；
Fig. 2 is a kind of concrete structure of the Omni-mobile base apparatus for shuttlecock robot that the embodiment of the present application two provides
Figure；
Fig. 3 is a kind of concrete structure diagram of the cross guide rail device for shuttlecock robot that the embodiment of the present application two provides；
Fig. 4 is a kind of position assumption diagram of the whole audience positioning device for shuttlecock robot that the embodiment of the present application two provides；
Fig. 5 is a kind of concrete structure diagram of the whole audience positioning device for shuttlecock robot that the embodiment of the present application two provides；
Fig. 6 is a kind of concrete structure diagram of the ball striking device for shuttlecock robot that the embodiment of the present application two provides.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
The utility model embodiment one discloses a kind of shuttlecock robot, as shown in Figure 1, the shuttlecock robot, packet
It includes：
Omni-mobile for providing the three degree of freedom rotated on X-axis, Y-axis movement and Z axis for shuttlecock robot
Base apparatus 101；
On Omni-mobile base apparatus 101, moved in X-axis and Y-axis for providing for shuttlecock robot
The cross guide rail device 102 of two degree of freedom；
On cross guide rail device, for providing rotated in X-axis and Z axis two freedom for shuttlecock robot
The ball striking device 103 of degree.
In the present embodiment, Omni-mobile base apparatus 101 can provide three degree of freedom for shuttlecock robot, respectively
It carries out mobile for Omni-mobile base apparatus X-axis in the horizontal plane and Y-axis and is rotated on Z axis；Cross guide rail
Device 102 provides two degree of freedom for shuttlecock robot, can be the ball striking device on cross guide rail device 102
103 provide the movement of X-axis and Y-axis in the horizontal plane；Ball striking device 103 provides two degree of freedom for shuttlecock robot,
The two degree of freedom are respectively used to ball striking device 103 itself for the rotation of Z axis and to the racket in shuttlecock robot
In the rotation of X-direction, so by the design in the utility model, more degree of freedom are provided for shuttlecock robot, and
Due to being designed with the degree of freedom that can be rotated on Z axis on ball striking device 103, it is possible to improve shuttlecock robot
Return of serve speed.
As it can be seen that in the utility model, since Omni-mobile base apparatus, cross guide rail device and ball striking device are respectively plumage
Ball top robot provides 3 degree of freedom, 2 degree of freedom and 2DOF, in total 7 degree of freedom, it is possible to allow feather ball machine
Device people realizes more return of serve types, and in the utility model, since ball striking device possesses the freedom rotated on Z axis
Degree, so, substantially increase the return of serve response speed of shuttlecock robot.
The utility model embodiment two discloses a kind of specific shuttlecock robot, on the basis of a upper embodiment,
The present embodiment has made further instruction and optimization to technical solution.Specifically：
Preferably, Omni-mobile base apparatus 101 includes：
It is used to support the carrier frame 201 of Omni-mobile base apparatus；
On carrier frame 201, for what is rotated on X-axis, Y-axis movement and Z axis to the offer of shuttlecock robot
The suspension arrangement 202 of three degree of freedom；Wherein, suspension arrangement 202 includes：For driving carrier frame to be moved in X-axis and Y-axis
Driving device 203, and double yoke link mechanisms 204 for being rotated in Z axis for driver 203；
It is installed in driving device 203, the running gear for driving carrier frame to move.
In the present embodiment, specific description has been carried out to Omni-mobile base apparatus 101, as shown in Figure 2, it is possible to understand that
, carrier frame 201 can so that Omni-mobile base apparatus is more firm, specifically, in the present embodiment, carrier frame
201 include but not limited to be formed with more Al pipe butt weldings, all are for the purpose of reaching practical application.It should be noted that at this
In embodiment, there are four suspension arrangements 202, and this four suspension arrangements, 202 rectangular axial symmetry is distributed, it is possible to understand that
It is such design method, shuttlecock robot can be made in the ground moving of out-of-flatness, can still wheel be kept
Ground, movement is more steady, and in the utility model, and suspension arrangement 202 has double yoke link mechanisms 204 so that double yokes connect
The suspension behavior of linkage 204 is more excellent, so that the response speed of shuttlecock robot is faster.Moreover, in the present embodiment
Running gear includes driving motor and the Mecanum wheel by driving motor driving rotation, for driving carrier frame 201
Omni-mobile, it should be noted that the quantity of Mecanum wheel in the present embodiment be 4.
Preferably, suspension arrangement 202 further includes：
Limiting plate for the two rocking arm spacing for limiting double yoke link mechanisms 204；
For reducing spin friction resistance, the bearing being mounted in rocking arm.
It is understood that increasing limiting plate between two rocking arms of double yoke link mechanisms 204, and pacify in rocking arm
The bearing for reducing spin friction resistance is filled, the performance of suspension arrangement 202 can be made more excellent.
Preferably, cross guide rail device 102 includes：
It is used to support the cross moving frame 301 of cross guide rail device 102；
On cross moving frame 301, the cross driving mechanism 302 for driving cross moving frame 301 to move；
Wherein, cross driving mechanism 302 includes：
First motor 303 for driving cross driving mechanism 302 to move and the second motor 304；
First motor seat 305 for supporting first motor 303 and the second motor 304 respectively and the second motor cabinet 306.
As shown in figure 3, in the present embodiment, first motor 303 is mounted on cross moving frame by first motor seat 305
On 301, the second motor 304 is mounted on by the second motor cabinet 306 on carrier frame 201, can cross guide rail be filled in this way
The movement for setting X-axis in the horizontal direction and Y-axis that 102 drive ball striking device 103 by first motor 303 and the second motor 304, from
And provide two degree of freedom for shuttlecock robot.
Preferably, cross guide rail device 102 further includes：
Roller bearing for adjusting position of synchronous belt on cross guide rail device 102；
Guide rail mounting base 307 for connecting cross moving frame.
Can cross be led it is understood that roller bearing and guide rail mounting base 307 are arranged on cross guide rail device 102
The movement of rail device 102 more quickly with it is firm, it should be noted that be that guide rail mounting base 307 is installed in the present embodiment
On the sliding block of guide rail 308, as shown in figure 3, and sliding block be usually it is matching used with guide rail, so for guide rail, cunning
The quantity of block and guide rail mounting base 307 is not construed as limiting, all are for the purpose of reaching practical application.
Preferably, shuttlecock robot further includes：
On Omni-mobile base apparatus 101, the whole audience positioning of the location information for obtaining shuttlecock robot
Device 401.
As shown in figure 4, in the present embodiment, whole audience positioning device 401 is arranged on Omni-mobile base apparatus 101,
Position that can be by Machine Vision Detection shuttlecock relative to shuttlecock robot, then so that Omni-mobile base apparatus
101 move quickly into the drop point site of shuttlecock, then complete the counterattack to shuttlecock by ball striking device 103, improve to plumage
The return of serve speed of ball top.
Preferably, whole audience positioning device 401 further includes：
Code disc device 501 for obtaining shuttlecock robot location's information；Wherein, code disc device 501 includes：
Omni-directional wheel 502 for measuring shuttlecock robot displacement distance；
On omni-directional wheel, the encoder 503 for obtaining omni-directional wheel rotation angle；
Code-disc mounting plate 504 for fixing code disc device.
As shown in figure 5, in the present embodiment, code disc device 501 is set as two, and the two code disc devices are in
90 ° of distribution, it is to be understood that design method in this way, the data result that can make are more prone to calculate, carry
The arithmetic speed of high shuttlecock robot.
Preferably, whole audience positioning device 401 further includes：
Gyroscope for obtaining shuttlecock robot pose information；
Microcontroller for the transmission data for handling encoder.
It is understood that the angular acceleration of the shuttlecock robot got can be sent to shuttlecock machine by gyroscope
In the controller of people, while encoder also can be by the correlation signal transmission of shuttlecock robot to the control of shuttlecock robot
In device microcontroller, and then go the movement of driving shuttlecock robot.
Preferably, ball striking device 103 includes：
Rotating device 601 for driving the racket of shuttlecock robot to be rotated in X-axis；Wherein, rotating device includes：With
In the rotary frame 602 of rotation rotating device 601, and the third motor 603 for driving rotary frame to rotate；
On rotating device 601, the beating unit 604 for carrying out rotation impact to shuttlecock；Wherein, impact dress
Setting 604 includes：The 4th motor 605 for driving racket to rotate, and the racket on the motor shaft of the 4th motor 605
606。
As shown in fig. 6, in the present embodiment, the rotating device 601 in ball striking device 103 and beating unit 604 can make
Shuttlecock robot is gathered around in X-axis and Z-direction there are two degree of freedom, compared with the prior art, the shuttlecock in the present embodiment
Robot improves the degree of freedom of kicking machine, while also improving flexibility ratio when shuttlecock robot receives and receiving
Success rate.
Preferably, rotary frame 602 further includes：
Limited block and/or limit switch for limiting 606 rotation angle of racket.
It is understood that on rotary frame 602 limited block of the installation for limiting 606 rotation angle of racket and/or
When limit switch, it is ensured that racket 606 in a certain range fights back shuttlecock, and then improves the return of serve of shuttlecock
Rate.Certainly, in practical application, there can also be the replacement of other same types, be not construed as limiting herein.
The foregoing description of the disclosed embodiments enables those skilled in the art to realize or use the utility model.
Various modifications to these embodiments will be apparent for a person skilled in the art, general original as defined herein
Reason can be realized in other embodiments without departing from the spirit or scope of the present utility model.Therefore, this practicality is new
Type is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase
Consistent widest range.
Claims (10)
1. a kind of shuttlecock robot, which is characterized in that including：
Omni-mobile chassis for providing the three degree of freedom rotated on X-axis, Y-axis movement and Z axis for shuttlecock robot
Device；
On the Omni-mobile base apparatus, moved in X-axis and Y-axis for providing for the shuttlecock robot
The cross guide rail device of two degree of freedom；
On the cross guide rail device, for providing rotated in X-axis and Z axis two for the shuttlecock robot
The ball striking device of degree of freedom.
2. shuttlecock robot according to claim 1, which is characterized in that the Omni-mobile base apparatus includes：
It is used to support the carrier frame of the Omni-mobile base apparatus；
On the carrier frame, for what is rotated on X-axis, Y-axis movement and Z axis to shuttlecock robot offer
The suspension arrangement of three degree of freedom；Wherein, the suspension arrangement includes：For driving the carrier frame to be moved in X-axis and Y-axis
Driving device, and double yoke link mechanisms for driving the driving device to be rotated in Z axis；
It is installed in the driving device, the running gear for driving the carrier frame movement.
3. shuttlecock robot according to claim 2, which is characterized in that the suspension arrangement further includes：
Limiting plate for the two rocking arm spacing for limiting double yoke link mechanisms；
For reducing spin friction resistance, the bearing being mounted in rocking arm.
4. shuttlecock robot according to claim 1, which is characterized in that the cross guide rail device includes：
It is used to support the cross moving frame of the cross guide rail device；
On the cross moving frame, the cross driving mechanism for driving the cross moving frame movement；Wherein,
The cross driving mechanism includes：
First motor and the second motor for driving the cross driving mechanism movement；
First motor seat and the second motor cabinet for supporting the first motor and second motor respectively.
5. shuttlecock robot according to claim 4, which is characterized in that the cross guide rail device further includes：
Roller bearing for adjusting position of synchronous belt on the cross guide rail device；
Guide rail mounting base for connecting the cross moving frame.
6. shuttlecock robot according to claim 1, which is characterized in that further include：
On the Omni-mobile base apparatus, the whole audience positioning of the location information for obtaining the shuttlecock robot
Device.
7. shuttlecock robot according to claim 6, which is characterized in that the whole audience positioning device further includes：
Code disc device for obtaining the shuttlecock robot location information；Wherein, the code disc device includes：
Omni-directional wheel for measuring shuttlecock robot displacement distance；
On the omni-directional wheel, the encoder for obtaining the omni-directional wheel rotation angle；
Code-disc mounting plate for fixing the code disc device.
8. shuttlecock robot according to claim 7, which is characterized in that the whole audience positioning device further includes：
Gyroscope for obtaining the shuttlecock robot pose information；
Microcontroller for the transmission data for handling the encoder.
9. according to claim 1 to 8 any one of them shuttlecock robot, which is characterized in that the ball striking device includes：
Rotating device for driving the racket of the shuttlecock robot to be rotated in X-axis；Wherein, the rotating device includes：
Rotary frame for rotating the rotating device, and the third motor for driving the rotary frame rotation；
On the rotating device, the beating unit for carrying out rotation impact to shuttlecock；Wherein, the beating unit
Including：The 4th motor for driving the racket rotation, and the ball on the motor shaft of the 4th motor
It claps.
10. shuttlecock robot according to claim 9, which is characterized in that the rotary frame further includes：
Limited block and/or limit switch for limiting the racket rotation angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721430685.9U CN207871441U (en) | 2017-10-30 | 2017-10-30 | A kind of shuttlecock robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721430685.9U CN207871441U (en) | 2017-10-30 | 2017-10-30 | A kind of shuttlecock robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207871441U true CN207871441U (en) | 2018-09-18 |
Family
ID=63500643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721430685.9U Expired - Fee Related CN207871441U (en) | 2017-10-30 | 2017-10-30 | A kind of shuttlecock robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207871441U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108939490A (en) * | 2018-10-09 | 2018-12-07 | 中科新松有限公司 | Ping-pong robot |
| CN110587578A (en) * | 2019-09-09 | 2019-12-20 | 电子科技大学 | Badminton education robot based on aluminum profile modularization |
| CN110665196A (en) * | 2019-09-30 | 2020-01-10 | 北京工业大学 | Badminton collecting robot |
| CN112494915A (en) * | 2020-12-14 | 2021-03-16 | 清华大学深圳国际研究生院 | Badminton robot and system and control method thereof |
-
2017
- 2017-10-30 CN CN201721430685.9U patent/CN207871441U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108939490A (en) * | 2018-10-09 | 2018-12-07 | 中科新松有限公司 | Ping-pong robot |
| CN110587578A (en) * | 2019-09-09 | 2019-12-20 | 电子科技大学 | Badminton education robot based on aluminum profile modularization |
| CN110665196A (en) * | 2019-09-30 | 2020-01-10 | 北京工业大学 | Badminton collecting robot |
| CN112494915A (en) * | 2020-12-14 | 2021-03-16 | 清华大学深圳国际研究生院 | Badminton robot and system and control method thereof |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180918 Termination date: 20191030 |