CN208356046U - Shot game service robot - Google Patents

Abstract

The utility model discloses a kind of shot game service robots, including recyclable device, transfer device, telecontrol equipment, sensing system and control system, recyclable device is for grabbing shot, recyclable device includes crawl guide rail, piston rod, piston cylinder and mechanical arm, the shot that transfer device is used to grab recyclable device is transported through, transfer device includes sliding rail and lifting wheel disc, sensing system includes kinect sensor, monocular-camera, color sensor and supersonic generator, the kinect sensor human motion for identification, the monocular-camera is for capturing the flight path of shot, the color sensor is used to measure the size and landing area markings of throwing circle, the supersonic generator is used for avoidance, the telecontrol equipment includes front-rear axle, drive axle, wheel set etc..The utility model is able to solve the match problem that time-consuming, safety is low caused by artificial pickup shot.

Description

Shot game service robot

Technical field

The utility model relates to robotic technology fields, more particularly to a kind of shot game service robot.

Background technique

Shot is one of track-and-field throwing event, it especially develops trunk and upper and lower extremities strength to building up health There is obvious action.Shot hunts brutish or defensive attack activity with stone originating from the ancient times mankind.Modern shot put starts from Push away the game and match for throwing shell during the Europe artilleryman leisure forties in 14 century, after gradually form sports item.

Shot during the games, such as Olympics shot project match in, shot referee needs to wait for moving The entire motion process of member terminates, and after shot landing, checks that pick-up point trace measures achievement, manually picks up shot, then again into The match of row next bit sportsman, this match process considerably increase unnecessary fixture, the danger for referee Coefficient is also relatively high.

Summary of the invention

The purpose of this utility model is that proposing a kind of shot game service robot, produced with solving the artificial shot that picks up The raw match problem that time-consuming, safety is low.

A kind of shot game service robot, including recyclable device, transfer device, telecontrol equipment, sensing system and control System processed, the recyclable device include crawl guide rail, piston rod, piston cylinder and machinery for grabbing shot, the recyclable device Arm, the crawl guide rail are equipped with lifting electromagnet, are powered and power off by the lifting electromagnet, and shot is inhaled in realization Release is echoed, the crawl guide rail, the piston rod, the piston cylinder and the mechanical arm are sequentially connected, on the mechanical arm Equipped with servo motor, the shot that the transfer device is used to grab the recyclable device is transported through, the transfer device packet Sliding rail and lifting wheel disc are included, the sliding rail is docked with the crawl guide rail and the lifting wheel disc respectively, the sensing system Including kinect sensor, monocular-camera, color sensor and supersonic generator, the kinect sensor is for identification Human motion, the monocular-camera for capturing to the flight path of shot, throw for measuring by the color sensor The size and landing area markings of throwing, the supersonic generator are used for avoidance, and the telecontrol equipment includes chassis and row Walking system.

According to the utility model proposes shot game service robot measured when in use by color sensor The size and landing area markings of throwing circle, obtain motion range, then after sportsman starts throwing, are passed by kinect The throwing gesture of sportsman is identified and analyzed in sensor, after shot putting goes out, the flight by monocular-camera to shot Track is captured, and moves to corresponding position by telecontrol equipment, then recycles color sensor and image processing techniques true Specific shot pick-up point is made, then shot is grabbed by the crawl guide rail in recyclable device, then passes through transhipment dress It sets for the shot that recyclable device grabs to be transported through and collected, then specified region is returned to by telecontrol equipment, completes The removal process of shot realizes the shot game service effectiveness of unmanned formula, and intelligence degree is high, reduces unnecessary match Waste of time, and avoid the low problem of manual work safety.

In addition, can also have following additional technology according to shot game service robot provided by the utility model Feature:

Further, the transfer device further includes that lifting wheel disc, institute are stated in wheel tray salver and shell, wheel disc box cover residence It states jacket residence and states sliding rail, the shell is equipped with transmitting cylinder and through-hole, the transmitting cylinder are docked with the sliding rail, described logical Hole is docked with the lifting wheel disc, and the shot of the crawl guide rail crawl is entered on the sliding rail by the transmitting cylinder, then Enter the lifting wheel disc by the through-hole.

Further, the quantity of the monocular-camera is two, and two monocular-cameras form binocular vision system System, on the housing, the color sensor is mounted on the bottom on the chassis, described for two monocular-camera installations Kinect sensor and the supersonic generator are installed on the chassis.

Further, buffer unit is equipped in the shell, the buffer unit includes sliding block, compressed spring, pneumatically leads Rail, outer cylinder, baffle and spring buffer, the sliding block are mounted on the Pneumatic guide rail, the compressed spring respectively with institute It states sliding block to connect with the baffle, the outer cylinder is set to outside the compressed spring, and the spring buffer is pneumatically led set on described On rail, the spring buffer and the compressed spring cooperate.

Further, the sliding rail is equipped with clearing apparatus.

Further, the running gear includes rear axle, drive axle, support base, Hooke hinge, wheel set, chassis bottom Seat, steering cylinder, preceding bridge and connecting bracket, the chassis pedestal are connect with the chassis, the preceding bridge and rear axle difference The both ends of the drive axle are connected to, the support base and the Hooke hinge connect with the preceding bridging, the connecting bracket Between the preceding bridge and the support base, the cylinder that turns to is set between the support base at both ends, the support base It is mounted on the chassis pedestal.

Further, the drive axle includes interior compressed spring, gearcase, the first spur gear, direct current generator, frictional drive Device, the first conical gear, axis, the second conical gear and third conical gear, the interior compressed spring, the friction motor, First conical gear, second conical gear and the third conical gear are set in the gearcase, the third Conical gear is contacted with first conical gear and second conical gear respectively, and the third conical gear respectively with First conical gear and second conical gear are vertically arranged, and the direct current generator is connect with first spur gear, First spur gear and the axis are installed in outside the gearcase.

Further, the friction motor includes cabinet and the case lid that is mounted on the cabinet, the cabinet and institute It states and is equipped with the first radial thrust bearing in case lid, squeezes disk, the first contact chip, the second radial thrust bearing and the second contact chip, The extruding disk is contacted with first radial thrust bearing and first contact chip respectively.

Further, the shot game service robot further includes light display unit and acoustic array, the light Display unit and acoustic array installation on the housing, the light display unit and the acoustic array and the control System processed is electrically connected.

Further, the control system uses PLC control system.

The additional aspect and advantage of the utility model will be set forth in part in the description, partially will be from following description In become obvious, or recognized by the practice of the utility model.

Detailed description of the invention

The above-mentioned and/or additional aspect and advantage of the utility model from the description of the embodiment in conjunction with the following figures will Become obvious and be readily appreciated that, in which:

Fig. 1 is the structural schematic diagram of the shot game service robot of an embodiment of the present invention；

Fig. 2 is the structural schematic diagram of recyclable device in Fig. 1；

Fig. 3 is the structural schematic diagram of transfer device in Fig. 1；

Fig. 4 is the structural schematic diagram of buffer unit in Fig. 3；

Fig. 5 is the structural schematic diagram of running gear in Fig. 1；

Fig. 6 is the structural schematic diagram of drive axle in Fig. 5；

Fig. 7 is the structural schematic diagram of friction motor in Fig. 6.

Specific embodiment

It is practical to this with reference to the accompanying drawing to keep the purpose of this utility model, feature and advantage more obvious and easy to understand Novel specific embodiment is described in detail.Several embodiments of the utility model are given in attached drawing.But this is practical It is novel to realize in many different forms, however it is not limited to embodiment described herein.On the contrary, providing these implementations The purpose of example is to keep the disclosure to the utility model more thorough and comprehensive.

It should be noted that it can directly on the other element when element is referred to as " being fixedly arranged on " another element Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ", " right side ", "upper", "lower" and similar statement for illustrative purposes only, rather than the device or member of indication or suggestion meaning Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.

In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood as the case may be Concrete meaning in the present invention.Term " and or " used herein includes one or more relevant listed items Any and all combinations.

Referring to Fig. 1, the shot game service robot that an embodiment of the utility model proposes, including recyclable device 10, transfer device 20, telecontrol equipment, sensing system and control system, control system is for controlling various functions, originally In embodiment, control system specifically uses the PLC control system haveing excellent performance, and PLC is compiled by special-purpose software on computers Control program is write, program is then downloaded to realize control by controller by downloading wire, to realize the control of each motor.

Referring to Fig. 2, the recyclable device 10 includes crawl guide rail 101, lives for grabbing shot, the recyclable device 10 Stopper rod 102, piston cylinder 103 and mechanical arm 104, the crawl guide rail 101 are equipped with lifting electromagnet 105, pass through the lifting Electromagnet 105 is powered and power-off, and realization is adsorbed and discharged to shot, the crawl guide rail 101, the piston rod 102, institute It states piston cylinder 103 and the mechanical arm 104 is sequentially connected, the mechanical arm 104 is equipped with servo motor 106.

The course of work are as follows: after sensing system has identified shot pick-up point, the robot adjustment direction of motion is quickly gone to Pick-up point, after stopping in front of pick-up point, mechanical arm 104 is started to work, and the lifting electromagnet 105 on mechanical arm 104 is all electric, Shot is attracted on crawl guide rail 101, and mechanical arm 104 acts, and shot is lifted onto transfer device 20.

Referring to Fig. 3, the shot that the transfer device 20 is used to grab the recyclable device 10 is transported through, described turn Shipping unit 20 include sliding rail 201 and lifting wheel disc 202, the sliding rail 201 respectively with the crawl guide rail 101 and the lifting wheel Disk 202 docks.In transfer device 20, shot rises with lifting wheel disc 202, by lifting wheel disc 202 behind arrival highest point High spot squeeze out, at this moment mechanical arm 104 will grab guide rail 101 lift to lifting 202 through-hole of wheel disc it is concentric, shot passes through slideway Into ball-collecting rack.

The transfer device 20 further includes that wheel tray salver 203 and shell 204, the wheel tray salver 203 cover the lifting wheel disc 202, the shell 204 covers the sliding rail 201, and the shell 204 is equipped with transmitting cylinder 205 and through-hole 206, the transmitting cylinder 205 dock with the sliding rail 201, and the through-hole 206 is docked with the lifting wheel disc 202, the lead that the crawl guide rail 101 grabs Ball is entered on the sliding rail 201 by the transmitting cylinder 205, then enters the lifting wheel disc 202 by the through-hole 206.

The sensing system includes kinect sensor 401, monocular-camera 402, color sensor 403 and ultrasonic wave Generator 404, the human motion for identification of kinect sensor 401, the monocular-camera 402 is for flying shot Row track is captured, and the color sensor 403 is used to measure the size and landing area markings of throwing circle, the ultrasound Wave producer 404 is used for avoidance.

The telecontrol equipment includes chassis 31 and running gear 32.

The quantity of the monocular-camera 402 is two, and two monocular-cameras 402 form binocular vision system, Two monocular-cameras 402 are mounted on the shell 204, and the color sensor 403 is mounted on the chassis 31 Bottom, the kinect sensor 401 and the supersonic generator 404 are installed on the chassis 31.

Due to shot heavier mass, in order to reduce movement velocity of the shot in equipment, improve the steady of equipment running process It is qualitative, it is equipped with buffer unit 21 in the shell 204, referring to Fig. 4, the buffer unit 21 includes sliding block 211, compressed spring 212, Pneumatic guide rail 213, outer cylinder 214, baffle 215 and spring buffer 216, the sliding block 211, which is mounted on, described pneumatically leads On rail 213, the compressed spring 212 is connect with the sliding block 211 and the baffle 215 respectively, and the outer cylinder 214 is set to described Outside compressed spring 212, the spring buffer 216 be set to the Pneumatic guide rail 213 on, the spring buffer 216 with it is described Compressed spring 212 cooperates.

Specifically, since shot is self-possessed, shot is in the rail after shot enters fuselage interior by the sliding rail 201 Rolled on road 201, when shot reaches the turning of the sliding rail 201, shot first on the Pneumatic guide rail 213 described in Spring buffer 216 contacts, and the compressed spring 212 is compressed, and shot is blocked by the baffle 215, completes to slow down for the first time, When shot is static, the sliding block 211 drives the spring buffer 216 to be moved upward along the Pneumatic guide rail 213, shot It is released, when shot reaches the least significant end of the sliding rail 201, shot enters in the lifting wheel disc 202 after being decelerated again.

In the present embodiment, the sliding rail 201 is equipped with clearing apparatus, and clearing apparatus is, for example, lint object, carries out to shot It cleans.

Referring to Fig. 5, the running gear 32 include rear axle 321, drive axle 322, support base 323, Hooke hinge 324, Wheel set 325, turns to cylinder 327, preceding bridge 328 and connecting bracket 329, the chassis pedestal 326 and institute at chassis pedestal 326 The connection of chassis 31 is stated, the preceding bridge 328 and the rear axle 321 are connected to the both ends of the drive axle 322, the support base 323 and the Hooke hinge 324 connect with the preceding bridge 328, the connecting bracket 329 is set to the preceding bridge 328 and described Between support base 323, the cylinder 327 that turns to is set between the support base 323 at both ends, and the support base 323 is mounted on On the chassis pedestal 326.

Referring to Fig. 6, the drive axle 322 include interior compressed spring 3221, gearcase 3222, the first spur gear 3223, Direct current generator 3224, friction motor 3225, the first conical gear 3226, axis 3227, the second conical gear 3228 and third circle Bevel gear 3229, the interior compressed spring 3221, the friction motor 3225, first conical gear 3226, described Two conical gears 3228 and the third conical gear 3229 are set in the gearcase 3222, the third conical gear 3229 It is contacted respectively with first conical gear 3226 and second conical gear 3228, and the third conical gear 3229 divides Be not vertically arranged with first conical gear 3226 and second conical gear 3228, the direct current generator 3224 with it is described The connection of first spur gear 3223, first spur gear 3223 and the axis 3227 are installed in outside the gearcase.

Referring to Fig. 7, the friction motor 3225 includes cabinet 331 and the upper box lid for being mounted on the cabinet 331 332, the cabinet 331 and the case lid 332 are interior equipped with the first radial thrust bearing 333, extruding disk 334, the first contact chip 335, the second radial thrust bearing 336 and the second contact chip 337, the extruding disk 334 respectively with the first centripetal thrust force axis Hold 333 and first contact chip 335 contact.

Running gear 32 mainly includes two kinds of walking states:

The first, straight-line travelling turns to cylinder 327 and keeps elongation state, preceding bridge 328 and rear axle 321 and drive axle 322 In electromagnet action, the conical gear in preceding bridge 328 close to interior compressed spring 3221 moves down, close to interior compression in rear axle 321 The conical gear of spring 3221 moves up, and the conical gear in preceding bridge 328 close to interior compressed spring 3221 moves to right, front-rear axle and drive Contact chip contact in dynamic bridge in two groups of friction motors, the frictional force generated by contact, preceding two-wheeled and rear two-wheeled turn to one It causes.In addition, preceding bridge is moved down with the electromagnet action in rear axle and drive axle, the conical gear of preceding bridge in straight-line travelling, after The conical gear of bridge moves up, and the conical gear of preceding bridge moves to right, the contact in front-rear axle and drive axle in two groups of friction motors Piece contact, the frictional force generated by contact, preceding two-wheeled and rear two-wheeled turn to consistent.

Second, pivot stud turns to cylinder 327 and shrinks, the electromagnetism in preceding bridge 328, rear axle 321 and drive axle 322 The conical gear of iron power loss, preceding bridge, rear axle and drive axle resets, two groups of friction motors in forward and backward bridge and drive axle Contact chip separation in 3225, guide cylinder movement, four-wheel core wheel deflecting roller inside, four wheel axis form four-wheel center circumscribed circle Two diameters, motor starts to work, and steering starts.In addition, when pivot stud is wanted on chassis, in preceding bridge, rear axle and drive axle Electromagnet power loss, the conical gear of preceding bridge, rear axle and drive axle resets, and two groups of frictions pass in forward and backward bridge and drive axle Contact chip separation in dynamic device, guide cylinder movement, four-wheel core wheel deflecting roller inside, four wheel axis form four-wheel center circumscribed circle Two diameters, motor starts to work, and steering starts.

In the present embodiment, the shot game service robot further includes light display unit and acoustic array, the lamp Light display unit and the acoustic array may be mounted on the shell, the light display unit and the acoustic array with The control system is electrically connected.Light display unit and the acoustic array are used for according to shot game rule, using light And sound shows to substitute the flag of judge, further promotes intelligence.

Throwing is measured by color sensor when in use according to the shot game service robot that the present embodiment proposes The size and landing area markings of throwing, obtain motion range, then after sportsman starts throwing, are sensed by kinect The throwing gesture of sportsman is identified and analyzed in device, after shot putting goes out, by monocular-camera to the flight rail of shot Mark is captured, and moves to corresponding position by telecontrol equipment, and color sensor and image processing techniques is then recycled to determine Specific shot pick-up point out, then shot is grabbed by the crawl guide rail in recyclable device, then pass through transfer device Specified region is returned to for the shot that recyclable device grabs to be transported through and collected, then by telecontrol equipment, completes lead The removal process of ball realizes the shot game service effectiveness of unmanned formula, and intelligence degree is high, when reducing unnecessary match Between waste, and avoid the low problem of manual work safety.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term Stating may not refer to the same embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be It can be combined in any suitable manner in any one or more embodiment or examples.

Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed, But it should not be understood as limiting the scope of the patent of the utility model.It should be pointed out that for the common of this field For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to In the protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.

Claims (9)

1. a kind of shot game service robot, which is characterized in that including recyclable device, transfer device, telecontrol equipment, sensor System and control system, the recyclable device include crawl guide rail, piston rod, piston for grabbing shot, the recyclable device Cylinder and mechanical arm, the crawl guide rail are equipped with lifting electromagnet, are powered and power off by the lifting electromagnet, realize to lead Ball is adsorbed and is discharged, and the crawl guide rail, the piston rod, the piston cylinder and the mechanical arm are sequentially connected, described Mechanical arm is equipped with servo motor, and the shot that the transfer device is used to grab the recyclable device is transported through, and described turn Shipping unit includes sliding rail and lifting wheel disc, and the sliding rail is docked with the crawl guide rail and the lifting wheel disc respectively, the biography Sensor system includes kinect sensor, monocular-camera, color sensor and supersonic generator, the kinect sensor Human motion for identification, the monocular-camera for capturing to the flight path of shot, use by the color sensor In the size and landing area markings of measurement throwing circle, the supersonic generator is used for avoidance, and the telecontrol equipment includes Chassis and running gear.

2. shot game service robot according to claim 1, which is characterized in that the transfer device further includes wheel disc Lifting wheel disc is stated in box and shell, wheel disc box cover residence, and sliding rail is stated in the jacket residence, and the shell is equipped with transmitting cylinder And through-hole, the transmitting cylinder are docked with the sliding rail, the through-hole is docked with the lifting wheel disc, the crawl guide rail crawl Shot is entered on the sliding rail by the transmitting cylinder, then enters the lifting wheel disc by the through-hole.

3. shot game service robot according to claim 2, which is characterized in that the quantity of the monocular-camera is Two, two monocular-cameras form binocular vision system, and two monocular-cameras are installed on the housing, institute The bottom that color sensor is mounted on the chassis is stated, the kinect sensor and the supersonic generator are installed in institute It states on chassis.

4. shot game service robot according to claim 3, which is characterized in that be equipped with buffering dress in the shell It sets, the buffer unit includes sliding block, compressed spring, Pneumatic guide rail, outer cylinder, baffle and spring buffer, the sliding block peace On the Pneumatic guide rail, the compressed spring is connect with the sliding block and the baffle respectively, and the outer cylinder is set to described Outside compressed spring, the spring buffer is set on the Pneumatic guide rail, and the spring buffer and the compressed spring cooperate.

5. shot game service robot according to claim 1, which is characterized in that the sliding rail, which is equipped with, cleans dress It sets.

6. shot game service robot according to claim 1, which is characterized in that the running gear include rear axle, Drive axle, Hooke hinge, wheel set, chassis pedestal, turns to cylinder, preceding bridge and connecting bracket, the chassis pedestal at support base It is connect with the chassis, the preceding bridge and the rear axle are connected to the both ends of the drive axle, the support base and described Hooke hinge connects with the preceding bridging, and the connecting bracket is set between the preceding bridge and the support base, the steering gas Cylinder is set between the support base at both ends, and the support base is mounted on the chassis pedestal.

7. shot game service robot according to claim 6, which is characterized in that the drive axle includes interior compression bullet Spring, gearcase, the first spur gear, direct current generator, friction motor, the first conical gear, axis, the second conical gear and third circle Bevel gear, the interior compressed spring, the friction motor, first conical gear, second conical gear and described Third conical gear be set to the gearcase in, the third conical gear respectively with first conical gear and described second Conical gear contact, and the third conical gear respectively with first conical gear and second conical gear is vertical sets It sets, the direct current generator is connect with first spur gear, and first spur gear and the axis are installed in the gearcase Outside.

8. shot game service robot according to claim 7, which is characterized in that the friction motor includes cabinet It is equipped with the first radial thrust bearing with the case lid being mounted on the cabinet, in the cabinet and the case lid, squeezes disk, first Contact chip, the second radial thrust bearing and the second contact chip, the extruding disk respectively with first radial thrust bearing and institute State the contact of the first contact chip.

9. shot game service robot according to claim 1, which is characterized in that the control system is controlled using PLC System processed.