CN208356049U - A kind of multifunctional carriage picks up ball, pitching one robot - Google Patents

Abstract

Ball, pitching one robot are picked up the utility model discloses a kind of multifunctional carriage for belonging to manipulator technical field, in the utility model, are picked up ball module, transmitting module, storage ball module and drive module and are bolted to multifunctional carriage；The power supply and signal wire for picking up ball module, transmitting module and two drive modules are connected by the Interface Terminal in control circuit module with control circuit module.Ball module, storage ball module and transmitting module are picked up in the utility model, compact to design, structure is simple, can easy disassembly, convenient for the extension of various modules, combination, and can quickly pick up ball, storage ball and service with continuous high-efficient；Transmitting module U-shaped batting frame possesses right angle guide barrel construction, and bead can be made to adjust transmitting position well, restores deformation ejection bead for rubber spring piece and reserves suitable locational space.

Description

A kind of multifunctional carriage picks up ball, pitching one robot

Patent field

The utility model belongs to manipulator technical field, and in particular to a kind of multifunctional carriage picks up ball, pitching all-in-one machine Device people.

Background technique

STEM, that is, Science (science), Technology (technology), Engineering (engineering), Mathematics (number Learn), in current STEM education sector, often figure is heavy, structure is complicated for existing pitching robot, and the not company of being able to satisfy Continuous quickly to pick up ball, the design requirement continuously emitted picks up ball, pitching has certain manipulation difficult, is unfavorable for being directed to students in middle and primary schools' STEM teaching；Pitching robot in the market has a single function simultaneously, lacks scalability, exploration and interest are insufficient.

Therefore it is badly in need of providing a kind of robot that continuously can quickly pick up ball, pitching, structure is simple, imparts knowledge to students convenient for STEM； It is handling good, it is easy to batch and picks up ball, continuous pitching, without has too high operative skill requirement to operator；With scalability, can lead to Multiple functions are realized in the different collocation for crossing structure, module, sensor, increase pitching robot explore, transformation enjoyment and a variety of Teaching, match purposes function.

Utility model content

The problem of according to being mentioned in background technique, the utility model discloses a kind of multifunctional carriage pitching robot, It is characterized in that, comprising: control circuit module picks up ball module, transmitting module, multifunctional carriage, two drive modules and Chu Qiumo Block is bolted wherein picking up ball module, transmitting module, storage ball module and drive module to multifunctional carriage；Pick up ball Module, the power supply of transmitting module and two drive modules and signal wire pass through Interface Terminal in control circuit module and control Circuit module is connected.

The control circuit module include: Multi-function extension mainboard, Arduino UNO master control borad, bluetooth communication and Lithium battery, wherein Multi-function extension mainboard is installed on multifunctional carriage by nylon insulated column, Arduino UNO master control borad, Bluetooth communication is connected to extension mainboard by the connection plug-in unit on extension mainboard；Multi-function extension mainboard respectively with driving mould DC speed-reducing in block, the ball decelerating motor of picking up picked up in ball module are connected with the transmitting decelerating motor in transmitting module；Peace Lithium battery in multifunctional carriage is connected with Arduino UNO master control borad.

It is described pick up ball module include: runner mounting rack, runner, volume ball plate, lead ball-collecting rack, pick up ball decelerating motor, motor is fixed Frame and nylon gear, three volume ball plates are installed between two runners, and the angle between three volume ball plates is equal, two runner peaces Loaded between two runner mounting racks；It picks up ball decelerating motor to be mounted between two motor fixing frames, nylon gear, which is mounted on, to be picked up It is engaged on the motor shaft of ball decelerating motor and with the gear on runner, leads ball-collecting rack and be mounted on velcro and picked up on ball decelerating motor, Ball decelerating motor drive signal line is picked up to be connected in control circuit module.

The ball-collecting rack of leading integrally is made of the guide housing for drawing ball plate and top of lower section, and draws ball plate and guide housing surrounds one A slanting rectangular space is for storing and guiding bead.

The transmitting module includes: U-shaped batting frame, transmitting decelerating motor, rubber spring piece, stops screw and batting gear Plate, transmitting decelerating motor are mounted on outside the side of U-shaped batting frame, and rubber spring piece is mounted on the motor shaft of transmitting decelerating motor On, and rubber spring piece and blocking screw are all located in U-shaped batting frame；U-shaped batting frame is set from low to high there are three step, wherein The horizontal position of minimum step is not less than storage ball module；L-shaped batting baffle is mounted on the one of U-shaped batting frame by bolt Side, transmitting decelerating motor drive signal line are connected with control circuit module.

The outer rim of the U-shaped batting minimum step of frame is rounded down, and the length of minimum step is not more than the diameter of bead.

The drive module includes: driving motor bracket, DC speed-reducing, wheel connector, wheel hub and rubbery cover tyre, Wherein driving motor bracket and universal wheel are installed on multifunctional carriage, and DC speed-reducing is mounted under driving motor bracket The motor shaft of side, DC speed-reducing is connected by wheel connector with wheel hub, and rubbery cover tyre is covered increases wheel outside wheel hub With frictional ground force；DC speed-reducing is connected with control circuit module.

The storage ball module is the open rectangle ball-storing box in a upper end, stores up ball module by nylon insulated column and is installed on control The top of circuit module；One and the matched rectangular notch of transmitting module are provided in the floor level position of storage ball module.

The utility model has the following beneficial effects:

Multifunctional carriage makes pitching robot have abundant scalability, and function is more diversified, more interesting and spy Without hesitation, it can be more convenient to expand to various teaching and match purposes；

Pick up ball module, storage ball module and transmitting module, compact to design, structure is simple, can easy disassembly, be convenient for various moulds Block extension, combination, and ball, storage ball and service can be quickly picked up with continuous high-efficient；

Transmitting module U-shaped batting frame, right angle guide barrel construction can make bead adjust transmitting position well, be rubber bullet Reed restores deformation ejection bead and reserves suitable locational space, and the rubber spring piece of circular-rotation and blocking screw cooperation are completed Firing altitude is adjusted in shot, batting baffle.

Compared with traditional complicated mechanical ejection structure, a utility model has used a DC speed-reducing can be fast Speed accurately continuously emits bead.

Detailed description of the invention

Fig. 1 is a kind of general assembly drawing of multifunctional carriage pitching robotic embodiment of the utility model；

Fig. 2 a is the front view of the utility model embodiment；

Fig. 2 b is sectional view of the 2a in B-B section；

Fig. 3 is control circuit module schematic diagram in the utility model embodiment；

Fig. 4 is the work flow diagram of control circuit module in the utility model embodiment；

Fig. 5 is the partial schematic diagram that ball module is picked up in the utility model embodiment；

Fig. 6 is the equal mappings that ball-collecting rack is led in the utility model embodiment；

Fig. 7 is the equal mappings of transmitting module in the utility model embodiment；

Fig. 8 is the schematic diagram of transmitting module and storage ball module in the utility model embodiment；

Fig. 9 is the equal mappings of multifunctional carriage in the utility model embodiment；

Figure 10 is the equal mappings of multifunctional carriage in the utility model embodiment；

Figure 11 a is the schematic diagram of drive module in the utility model embodiment；

Figure 11 b is the equal mappings of universal wheel in the utility model embodiment；

Figure 12 is the equal mappings that ball module is stored up in the utility model embodiment；

In figure: 100- control circuit module, 200- pick up ball module, 300- transmitting module, 400- multifunctional carriage, 500- drive Dynamic model block, 600- storage ball module, 101- Multi-function extension mainboard, 102-Arduino UNO master control borad, 103- communication module, 104- lithium battery, 201- pick up ball module runner mounting rack, 202- runner, 203- volumes of ball plate, and 204- leads ball-collecting rack, and 205- picks up ball deceleration Motor, 206- motor fixing frame, 207- nylon gear, 208- bead, 301-U shape batting frame, 302- emit decelerating motor, 303- Rubber spring piece, 304- stop screw, 305- batting baffle, 401- motor fixing frame mounting hole, the installation of 402- runner mounting rack Hole, 403-U shape batting frame mounting hole, 404- driving motor rack mounting apertures, 405- control circuit module mounting hole, 406- are universal Take turns pilot hole, 407- Function Extension pilot hole, 501- electric machine support, 502- DC speed-reducing, 503- wheel connector, 504- Wheel hub, 505- rubbery cover tyre, 506- universal wheel, 2041- draw ball plate, 2042- guide housing.

Specific embodiment

With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail:

Control circuit module 100 as shown in Figure 3 and Figure 4 includes: Multi-function extension mainboard 101, master control borad 102, bluetooth Communication module 103 and lithium battery 104, wherein Multi-function extension mainboard 101 is installed on multifunctional carriage 400 by nylon insulated column Control circuit module mounting hole 405 on, Arduino UNO master control borad 102, bluetooth communication 103 pass through Multi-function extension Connection plug-in unit on mainboard 101 is connected to Multi-function extension mainboard 101, and bluetooth communication 103 receives cell phone application or bluetooth Remote-control handle issue control signal, Multi-function extension mainboard 101 respectively in drive module 500 DC speed-reducing 502, The ball decelerating motor 205 of picking up picked up in ball module 200 is connected with the transmitting decelerating motor 302 in transmitting module 300；Extend mainboard Communication module signal on extension mainboard is sent to Arduino UNO master control borad 102, while Arduino UNO master control borad by 101 102 extend control signal on mainboard 101 by extending mainboard 101 and being sent to each expansion module or be sent to driving signal Driving circuit, by driving circuit drive drive module 500；The lithium battery 104 and open source being mounted in multifunctional carriage 400 are hard Part Arduino UNO master control borad 102 is connected；

It includes: runner mounting rack 201, runner 202, volume ball plate that ball module 200 is picked up shown in a, Fig. 2 b and 4 as shown in Figure 1, Figure 2 203, it leads ball-collecting rack 204, pick up ball decelerating motor 205, motor fixing frame 206 and nylon gear 207, three volume ball plates 203 are in equal Angle be mounted on to organize coiled ball assembly between two runners 202, this volume ball assembly use again screw, axle sleeve, bearing and Nut is installed between two runner mounting racks 201.It picks up ball decelerating motor 205 to be mounted between two motor fixing frames 206, Buddhist nun Dens draconis wheel 207 is mounted on the motor shaft for picking up ball decelerating motor 205 and engages with the gear on runner 202, leads the evil spirit of ball-collecting rack 204 Art patch, which is mounted on, picks up on ball decelerating motor 205, picks up 205 drive signal line of ball decelerating motor and passes through the connection on extension mainboard 101 Terminal is connected to the driving circuit on extension mainboard 101；

When carrying out picking up ball operation, picks up the rotation of ball decelerating motor 205 and nylon gear 207 is driven to rotate, nylon gear 207 drives Runner 202 rotates, and bead 208 is dialled in and leads ball-collecting rack 204, enters back into storage ball module 600；

If Fig. 2 a, Fig. 2 b, Fig. 5 and ball-collecting rack 204 shown in fig. 6 of leading are by the guide housing for drawing ball plate 2041 and top of lower section 2042 one compositions, and draw ball plate 2041 and guide housing 2042 surrounds a slanting rectangular space for storing and guiding by rolling up Ball plate 203 is delivered to the bead 208 drawn on ball plate 2041；

A, Fig. 2 b, Fig. 7 and transmitting module shown in Fig. 8 300 as shown in Figure 1, Figure 2 include: U-shaped batting frame 301, transmitting deceleration electricity Machine 302, rubber spring piece 303 stop screw 304, batting baffle 305, and transmitting decelerating motor 302 is mounted on U-shaped batting frame 301 Side outside, rubber spring piece 303 be mounted on transmitting decelerating motor 302 motor shaft on, and rubber spring piece 303 and stop spiral shell Silk 304 is all located in U-shaped batting frame 301, and stops screw 304 positioned at the top of rubber spring piece 303 when loosening；U-shaped batting Frame 301 is set from low to high there are three step, wherein minimum step is for placing bead 208, the outer rim of minimum step has circle Angle, the length of minimum step are not more than the diameter of bead；L-shaped batting baffle 305 is mounted on U-shaped batting frame by bolt 301 a side, and the gear of baffle 305 of batting, in the top of U-shaped batting frame 301, batting baffle 305 can be rotated to adjust the angle of departure Degree, transmitting 302 drive signal line of decelerating motor are connected on extension mainboard 101 by the connection terminal on extension mainboard 101 Driving circuit；

After installation, the horizontal position of minimum step is not less than storage ball module 600 in U-shaped batting frame 301, in the present embodiment Slightly above store up the about 1mm of ball module 600；So that it is guaranteed that the bead 208 on U-shaped batting frame 301 is not will receive in transmitting in storage ball The influence of remaining bead 208 in module 600；

The drive module 500 as shown in Figure 11 a and Figure 11 b include: driving motor bracket 501, DC speed-reducing 502, Wheel connector 503, wheel hub 504 and rubbery cover tyre 505, wherein driving motor bracket 501 and universal wheel 506 are mounted on multi-functional On vehicle frame 400, DC speed-reducing 502 is mounted on the lower section of driving motor bracket 501, the motor shaft of DC speed-reducing 502 It is connected by wheel connector 503 with the wheel hub 504 of two sides, 505 sets of rubbery cover tyre increase wheel and ground outside wheel hub 504 Frictional force makes pitching robot have stronger riding stability；The circuit system of DC speed-reducing 502 passes through signal wire and more Function Extension mainboard 101 is connected.

Storage ball module 600 as shown in figure 12, storing up ball module 600 in the present embodiment is that the open rectangle in a upper end stores up ball Case, storage ball module 600 is mounted on multifunctional carriage 400 by nylon insulated column, and is located at the upper of control circuit module 100 Side；Ball module 600 is stored up after installation and horizontal plane generates one to the micro- angle inclined in right front, which can use gravity principle Launching track is not influenced bead sequence and；One is provided in the floor level position of storage ball module 600 to hit with groove U-shaped The matched rectangular notch of ball-collecting rack 301.

Multifunctional carriage 400 as shown in Figure 9, Figure 10 is integrally formed by sheet metal component, and multifunctional carriage 400 is from the appearance It is open cuboid at the big portion in lower end surface rear, therefore multifunctional carriage 400 is equipped with all around six faces up and down, wherein more The lower end surface of function vehicle frame 400 is connected with leading flank；Threaded mounting hole, screw thread are provided on each end face of multifunctional carriage 400 Mounting hole includes: motor fixing frame mounting hole 401, runner mounting rack mounting hole 402, picks up ball module pilot hole 403, driving motor Rack mounting apertures 404, control circuit module pilot hole 405, universal wheel pilot hole 406 and extension functional assembly hole 407, wherein setting Set 400 upper surface right front of multifunctional carriage pick up ball module pilot hole 403 for install pick up ball module 200, setting is more The motor fixing frame mounting hole 401 at 400 front side both ends of function vehicle frame is respectively used to one motor fixing frame 206 of installation；Setting exists Runner mounting rack mounting hole 402 in front of 400 left and right sides of multifunctional carriage picks up ball module runner mounting rack for installing 201；The U-shaped batting frame mounting hole 403 of 400 upper surface right front of multifunctional carriage is set for installing transmitting module 300；If The driving motor rack mounting apertures 404 at left and right sides of 400 upper surface of multifunctional carriage are set to be respectively used to that a set of driving electricity is installed Machine support 501, and pass through the inside that DC speed-reducing 502 is installed on multifunctional carriage 400 by driving motor bracket 501；If The control circuit module mounting hole 405 in 400 upper surface of multifunctional carriage is set for installing control circuit module 100；Setting exists The universal wheel pilot hole 406 of 400 lower end surface of multifunctional carriage is used to for universal wheel 506 being installed on the lower section of multifunctional carriage 400； Extension functional assembly hole 407 is reserved on multifunctional carriage 400 to install other extension function sheet metal components or sensor module；

As shown in Figure 1, in the present embodiment, multifunctional carriage pick up ball, pitching one robot includes: control circuit module 100, ball module 200, transmitting module 300,400, two drive modules 500 of multifunctional carriage and storage ball module 600 are picked up, wherein picking up Ball module 200, transmitting module 300, storage ball module 600 and drive module 500 are bolted to multifunctional carriage 400 On；The power supply and signal wire for picking up ball module 200, transmitting module 300 and two drive modules 500 pass through control circuit module Interface Terminal on 100 is connected to control circuit module 100.

In the present embodiment, the instruction that bluetooth communication module 103 issues cell phone application end and remote-control handle passes through extension master Plate 101 is transferred to Arduino UNO master control borad 102, and when receiving movement instruction, Arduino UNO master control borad 102, which issues, to be driven Dynamic signal extends DC speed-reducing 502 of the driving circuit on mainboard 101 into drive module 500 and mentions to extension mainboard 101 For respective drive voltage, when receive pick up ball instruction when, Arduino UNO master control borad 102 issues driving signal to extending mainboard 101, the driving circuit extended on mainboard 101 provides forward drive voltage to the ball decelerating motor 205 of picking up picked up in ball module 200. When receiving firing order, Arduino UNO master control borad 102 issues driving signal to extension mainboard 101, extends mainboard 101 On driving circuit on transmitting module 300 pick up ball decelerating motor 302 provide be driven forward voltage, ball is hit.

The present embodiment picks up ball and the entire flow of pitching is as follows: under program control, when picking up ball, before pitching robot Bead 208 is involved in storage with leading ball-collecting rack 204 and cooperate in the case where picking up ball decelerating motor 205 and driving into, volume ball plate 203 on runner 202 Ball is picked up in ball case 600, realization.Storage ball module 600 is mounted on extension mainboard 101 by nylon insulated column and generates a minimum side To the tilt angle for U-shaped batting 301 direction of frame, launching track is not influenced bead sequence and using gravity principle. When pitching, transmitting decelerating motor 302 drives rubber spring piece 303 to rotate, and rubber spring piece 303 encounters on U-shaped batting frame 301 Deformation occurs after blocking screw 304 is slowly bent, and emits decelerating motor 302 at this time and continues to rotate, when 303 end of rubber spring piece It is separated in a flash with screw 304 is stopped, rubber spring piece 303 restores its elastic potential energy of deformation and is converted into kinetic energy for bead 208 Quickly hitting, bead 208 is bound on batting baffle 305 and projects by rebound, and baffle 305 of rotatably batting adjusts reflection angle, To adjust firing altitude.Compared with traditional complicated mechanical structure, the design picks up ball service structure and has only used a direct current Decelerating motor can meet quickly, accurately, continuous to emit bead requirement.

Bead 208 used in the present embodiment is the small size table tennis of diameter 2.7cm, it is possible to use the sponge of 3cm or so Ball；It is half meter or so with the highest height of arch that the small table tennis of 2.7cm is popped up when test, farthest landing distance is two meters Left and right.

In the present embodiment, multifunctional carriage 400 can be used as the carrier of pitching robot, can also be by extending function Can pilot hole 407 be extended to multi-foot robot, inspection robot, transfer robot, furthermore user can also with extension or The homemade extension of person makes desired robot.

Claims (8)

1. a kind of multifunctional carriage picks up ball, pitching one robot characterized by comprising control circuit module (100), Ball module (200), transmitting module (300), multifunctional carriage (400), two drive modules (500) and storage ball module (600) are picked up, Wherein pick up ball module (200), transmitting module (300), storage ball module (600) and drive module (500) be bolted to On multifunctional carriage (400)；Pick up the power supply and letter of ball module (200), transmitting module (300) and two drive modules (500) Number line is connected by the Interface Terminal on control circuit module (100) with control circuit module (100).

2. a kind of multifunctional carriage according to claim 1 picks up ball, pitching one robot, which is characterized in that described Control circuit module (100) includes: Multi-function extension mainboard (101), Arduino UNO master control borad (102), bluetooth communication (103) and lithium battery (104), wherein Multi-function extension mainboard (101) is installed on multifunctional carriage (400) by nylon insulated column On, Arduino UNO master control borad (102), bluetooth communication (103) pass through the connection plug-in unit connection in extension mainboard (101) To extension mainboard (101)；Multi-function extension mainboard (101) respectively in drive module (500) DC speed-reducing (502), The ball decelerating motor (205) of picking up picked up in ball module (200) is connected with the transmitting decelerating motor (302) in transmitting module (300)；Peace Lithium battery (104) in multifunctional carriage (400) is connected with Arduino UNO master control borad (102).

3. a kind of multifunctional carriage according to claim 1 picks up ball, pitching one robot, which is characterized in that described Ball module (200) is picked up to include: runner mounting rack (201), runner (202), volume ball plate (203), lead ball-collecting rack (204), pick up ball deceleration Motor (205), motor fixing frame (206) and nylon gear (207), three volume ball plates (203) be installed on two runners (202) it Between, and the angle between three volumes ball plate (203) is equal, two runners (202) are installed between two runner mounting racks (201)； It picks up ball decelerating motor (205) to be mounted between two motor fixing frames (206), nylon gear (207), which is mounted on, picks up ball deceleration electricity Engaged on the motor shaft of machine (205) and with the gear on runner (202), lead ball-collecting rack (204) be mounted on velcro pick up ball deceleration On motor (205), picks up ball decelerating motor (205) drive signal line and be connected on control circuit module (100).

4. a kind of multifunctional carriage according to claim 3 picks up ball, pitching one robot, which is characterized in that described Ball-collecting rack (204) is led integrally to be made of the guide housing (2042) for drawing ball plate (2041) and top of lower section, and draw ball plate (2041) and Guide housing (2042) surrounds a slanting rectangular space for storing and guiding bead (208).

5. a kind of multifunctional carriage according to claim 1 picks up ball, pitching one robot, which is characterized in that described Transmitting module (300) includes: U-shaped batting frame (301), transmitting decelerating motor (302), rubber spring piece (303), stops screw (304) it is mounted on outside the side of U-shaped batting frame (301) with batting baffle (305), transmitting decelerating motor (302), rubber spring piece (303) it is mounted on the motor shaft of transmitting decelerating motor (302), and rubber spring piece (303) is all located at screw (304) are stopped U-shaped is batted in frame (301)；U-shaped batting frame (301) is set from low to high there are three step, wherein the horizontal position of minimum step is not Lower than storage ball module (600)；L-shaped batting baffle (305) is mounted on a side of U-shaped batting frame (301) by bolt, Transmitting decelerating motor (302) drive signal line is connected with control circuit module (100).

6. a kind of multifunctional carriage according to claim 5 picks up ball, pitching one robot, which is characterized in that the U The outer rim of shape batting frame (301) minimum step is rounded down, and the length of minimum step is not more than the diameter of bead (208).

7. a kind of multifunctional carriage according to claim 1 picks up ball, pitching one robot, which is characterized in that described Drive module (500) includes: driving motor bracket (501), DC speed-reducing (502), wheel connector (503), wheel hub (504) and rubbery cover tyre (505), wherein driving motor bracket (501) and universal wheel (506) are installed on multifunctional carriage (400) On, DC speed-reducing (502) is mounted on the lower section of driving motor bracket (501), and the motor shaft of DC speed-reducing (502) is logical It crosses wheel connector (503) to be connected with wheel hub (504), rubbery cover tyre (505) is covered increases wheel and ground outside wheel hub (504) Frictional force；DC speed-reducing (502) is connected with control circuit module (100).

8. a kind of multifunctional carriage according to claim 1 picks up ball, pitching one robot, which is characterized in that described Storing up ball module (600) is the open rectangle ball-storing box in a upper end, and storage ball module (600) is installed on control electricity by nylon insulated column The top of road module (100)；One and transmitting module (300) matched square are provided in the floor level position of storage ball module (600) V notch v.