CN208893592U - A kind of automatic Shou Bai robot of movable type snooker - Google Patents

A kind of automatic Shou Bai robot of movable type snooker Download PDF

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Publication number
CN208893592U
CN208893592U CN201821590045.9U CN201821590045U CN208893592U CN 208893592 U CN208893592 U CN 208893592U CN 201821590045 U CN201821590045 U CN 201821590045U CN 208893592 U CN208893592 U CN 208893592U
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China
Prior art keywords
gear
arm
plate
spur gear
motor
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CN201821590045.9U
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Chinese (zh)
Inventor
孙悦
李君�
高依毅
宋洪侠
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Dalian University of Technology
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Dalian University of Technology
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Abstract

A kind of automatic Shou Bai robot of movable type snooker, belongs to billiard movement relevant device field.The technical solution of the present apparatus is realized are as follows: the camera head monitor billiard ball on gripper identify its color into hole, and colour ball is directly placed in corresponding position by gripper later.Walking mechanism is run to after falling sphere is in the projection on ground by Omnibearing wheel type movement, and gripper grabs billiard ball from hole and is put into colour ball frame or triangle frame.After the completion of match, gripper puts colour ball, and red ball, which is located in triangle frame, rises to height of table top by lifting platform, and lead screw motor is released the completion of triangle frame and put.Present apparatus beneficial effect is that solve the problems, such as that traditional artificial swing ball labour consumption is big and existing racking device is connected with billiard table mostly to need human assistance, and follow two sets of ball thinkings, it is full-automatic that swing ball is more efficient, position precision is higher, practical, suitable for occasions such as Snooker matches, there is certain application value.

Description

A kind of automatic Shou Bai robot of movable type snooker
Technical field
The utility model relates to billiard movement relevant device fields, and in particular to it is a kind of movable type snooker receive automatically Put robot.
Background technique
In recent years, snooker is increasingly valued by people and likes in amusement and recreation industry, and consequent is The raising of human cost, it is thus more and more for assisting the intellectual product for receiving ball and swing ball to start to move towards market, instead of artificial It works.But existing intellectual product is both needed to depend on billiard table, there are problems that erroneous for installation, influence match process, The full intellectualized demand of amusement and recreation industry cannot be fully met.
Utility model content
The purpose of the utility model is to provide one kind to collect automatically, automatic swing ball, can intelligent mobile, can fill automatically Electricity, the enjoyment for bringing billiards show business new and the automatic Shou Bai robot of the mobile snooker for saving cost of labor.
The technical solution of the utility model includes:
A kind of automatic Shou Bai robot of movable type snooker, which includes shell 63, and pedestal 6 is set to base Gripper 1, mechanical arm, lifting swing ball mechanism, two colour ball frames 9, battery 10 and the single-chip microcontroller 7 of 6 upper surfaces of seat, and setting Walking mechanism 8 in 6 lower surface of pedestal;
The pedestal 6 includes transverse bottom plate, longitudinal base plate and floor box, and longitudinal base plate is vertically installed in transverse bottom plate Lower surface provides tie point for walking mechanism 8, and floor box is set to transverse bottom plate upper surface, provides support for arm chassis 30;
Totally four, the walking mechanism 8, each walking mechanism 8 includes thigh support board 51, block A52, block B53, block C54, damper 55, right-angle connecting plate 56, motor E57, spur gear B58, bevel gear C59, spur gear C60, bevel gear D66, just Gear D 67, spur gear E68, Mecanum wheel 61 and wheel shaft 65;Two thigh support boards 51 are connected in parallel at the longitudinal direction of pedestal 6 Braced frame on bottom plate, as walking mechanism 8;Block A52 is fixed in the transverse bottom plate of pedestal 6, and 55 upper shaft of damper is worn Block A52 is crossed, can realize and rotate relative to block A52;55 lower end axis two sides of damper are each passed through block B53, block C54, and are fixed on The upper surface of right-angle connecting plate 56;The limitation of right-angle connecting plate 56 is fixed between two thigh support boards 51, on right-angle connecting plate 56 Fixing side axis and motor E57;The output shaft of motor E57 is connected with spur gear C60, and spur gear B58 is fixed with bevel gear C59 It is integrated and is sleeved on the axis of side, it is ensured that spur gear B58 and spur gear C60 engagement;Bevel gear D66 passes through with spur gear D67 Axis connection, and be respectively arranged inside and outside thigh support board 51, wherein bevel gear D66 is set to 51 inside of thigh support board, And bevel gear D66 is engaged with bevel gear C59;Spur gear D67 is set to the outside of thigh support board 51, and with set in leg branch The spur gear E68 engagement in 51 outside of fagging;Mecanum wheel 61 is sandwiched between two thigh support boards 51, and wheel shaft 65 sequentially passes through One thigh support board 51, Mecanum wheel 61, another thigh support board 51, are fixed, series of gears with spur gear E68 Rotation, can be realized the rotation of Mecanum wheel 61;
The mechanical arm includes arm pedestal, large arm 4, the second section arm 3 and telescopic arm 2;4 lower end of large arm passes through arm bottom Seat is set on the floor box of pedestal 6, can be realized the rotation for arm pedestal, under 4 upper end of large arm and the second section arm 3 End is connected, and the second section arm 3 is located at 2 two sides of telescopic arm, and between telescopic arm 2 and the second section arm 3, side passes through rack gear 18 and tooth Wheel cooperation moves up and down, and the other side is slided up and down by sliding rail realization;
The arm pedestal includes arm chassis 30, motor D37, spur gear F38, spur gear G69, spur gear H70, just Gear I71, internal gear B39, internal tooth wheeling supporting frame 78, internal gear A31, planetary gear set 32, set square 33, Archimedes's worm gear Worm screw 34, column A35, motor C36, arm support seat 72 and pedestal shell 81;Internal gear B39 is fixed on the floor box of pedestal 6; Motor D37 is fixed in the transverse bottom plate of pedestal 6, and output end is connected with spur gear F38;Spur gear G69 is located at spur gear H70 Lower section, the two are fixed to each other, and coaxially connected with transverse bottom plate realization;Spur gear I71 and transverse bottom plate realize axis connection;Simultaneously Ensure that spur gear G69 is meshed with spur gear F38, spur gear H70 is meshed with spur gear I71, spur gear I71 and internal gear B39 is meshed;The upper surface of internal gear B39 is fixed on arm chassis 30;When motor D37 is rotated, series of gears group is driven to turn It is dynamic, and then realize the rotation on arm chassis 30;Internal tooth wheeling supporting frame 78 and arm support seat 72 are arranged side by side in arm chassis 30 Upper surface, internal tooth wheeling supporting frame 78 side fixed annulus A31, internal gear A31 are meshed with planetary gear set 32;Planet It is connect by set square 33 with the worm gear in Archimedes's worm and gear 34 on the outside of gear set 32, wherein 33 two sides of set square are logical Axis is crossed to be fixedly connected with planetary gear set 32, Archimedes's worm and gear 34 respectively;Worm screw in Archimedes's worm and gear 34 Axis connection is realized by the output end of column A35 and motor C36;Motor C36, as supporting, can follow arm by pedestal shell 81 The rotation on chassis 30 and rotate;Motor C36 drives Archimedes's worm and gear 34 to rotate, to realize the swing of large arm 4, planet Gear set 32 reduces the swing speed of large arm 4 to control, and the self-locking function of Archimedes's worm and gear 34 swings to control large arm 4 Beginning stop;
The lower end of the large arm 4 passes through axis connection among the arm support seat 72 for being located at rotating mechanism top, the upper end It is connected by gear-box 28 with 24 lower end of the second section arm support plate, motor B29 output end and 28 axis connection of gear-box;
The second section arm 3 includes the second section arm support plate 24, sliding rail B27 and the second section arm shell 80;Second Skeletal support is made with the second section arm support plate 24 inside section arm 3;Sliding rail B27 is set to 80 inside of the second section arm shell, It is matched with the sliding rail A26 in the outside for being set to telescopic arm shell 79, completes sliding up and down for telescopic arm 2;
The telescopic arm 2 includes telescopic arm support plate 17, telescopic arm shell 79, sliding rail A26, rack gear 18, motor A19, cone Gear A 20, axis A21, bevel gear B22 and spur gear A23, axis B83 and spur gear J82;With telescopic arm support plate inside telescopic arm 2 17 make skeletal support, and motor A19 is fixed on two telescopic arm support plates, 17 inside, and output end and bevel gear A20 axis connection;Axis A21, axis B83 both ends be separately fixed on 79 inner surface of telescopic arm shell perpendicular to telescopic arm support plate 17, and axis A21 cover If the bevel gear B22 and spur gear A23 that are fixed to each other, axis B83 is arranged spur gear J82, and spur gear J82 is located at telescopic arm support plate 17 lower section, it is ensured that bevel gear A20 is engaged with bevel gear B22, and spur gear A23 is engaged with spur gear J82;Rack gear 18 is fixedly mounted In the inside of the second section arm shell 80, spur gear J82 is engaged with rack gear 18;Motor A19 drives the rotation of series of gears, into And spur gear J82 is driven to slide on rack gear 18, drive the linear motion of telescopic arm 2;
The gripper 1 passes through joint case 25 and 2 axis connection of telescopic arm;Gripper includes finger 13, connecting plate 12, fixes Seat 73, gear guard box 74, nut 15, screw rod 14, gear set A75, sucker protective case 76, fixed plate 77,16 and of vacuum chuck Gripper camera 11;13 lower part of finger is connected by axis with fixing seat 73,73 lower end connection gear guard box 74 of fixing seat;Hand Refer to that 13 middle and lower part turning points are connected by axis with one end of connecting plate 12, the other end of connecting plate 12 passes through axis and 15 phase of nut Even;Nut 15 is set on screw rod 14, and 14 lower end of screw rod is connected by axis with the gear set A75 inside gear guard box 74, tooth Wheel group A75 is driven by motor, drives screw rod 14 to rotate, and then move up and down nut 15 along screw rod 14;15 upper end of nut is fixed Sucker protective case 76 is equipped with fixed plate 77 inside sucker protective case 76, gripper camera 11 and 3 is arranged in fixed plate 77 Vacuum chuck 16, gripper camera 11 are located at the center of fixed plate 77, and 3 vacuum chucks 16 are distributed in machine in equilateral triangle The periphery of machinery claw camera 11;
The lifting swing ball mechanism includes lifting platform and triangle frame ejecting mechanism;
The lifting platform includes cylinder 41, crossbar 40, support rod 62, bottom 42 and upper top 43;Crossbar 40 is z font Structure, every a pair of crossbar 40 are connected together by straight pin, constitute crossbar group, pass through support rod between a pair of cross bar group 62 are connected, and each pair of crossbar group is stacked down through straight pin, according to the height that lifting platform stretches, determine of crossbar group Number;The crossbar group of the top and the crossbar group of bottom pass through the limit that axis is limited in top 43 and 42 sides of going to the bottom respectively In slot;Cylinder 41 is connected with the limiting slot of 42 sides of bottom, drives the elongation and contraction of crossbar group;
The triangle frame ejecting mechanism include triangle frame support plate 46, built-in triangle frame 49, funnel 44, with porose fixation Block 45, lead screw motor A47 and lead screw motor B48;Triangle frame support plate 46 includes upper plate, lower plate and pillar, upper plate and lower plate it Between by pillar be connected;The upper plate of triangle frame support plate 46 is fixed on the upper surface on top 43, on 46 upper plate of triangle frame support plate Through-hole is arranged in surface, and for placing funnel 44, the lower surface two side ends of 46 upper plate of triangle frame support plate are fixed respectively to have screw thread The fixed block 45 of through-hole;Built-in triangle frame 49 is equipped between the upper plate and lower plate of triangle frame support plate 46, on built-in triangle frame 49 Fixation skids off plate, skids off the fixed fixed block 45 for having tapped through hole in both ends of the plate far from built-in triangle frame 49, lead screw motor A47 With the screw rod in lead screw motor B48 sequentially pass through respectively the lower surface two side ends of 46 upper plate of triangle frame support plate fixed block 45 and The fixed block 45 at both ends of the plate far from built-in triangle frame 49 is skidded off, realizes and converts built-in triangle frame 49 for the rotation of lead screw motor Linear motion;Built-in triangle frame 49 is bottomless triangle frame, and inside has sponge, plays anti-skidding fastening effect to internal billiard ball;
The surface two sides of the shell 63 are symmetrically installed there are two front camera 5, and front is fixed than scoreboard 64;
There are six the holes that diameter is 50mm -55mm, depth 18mm-22mm for the colour ball frame 9.
The utility model has the beneficial effects that
(1) the utility model uses two sets of ball thinkings: having a set of colour ball in colour ball frame, has colour ball to fall into hole (on table also With the presence of red ball) when, gripper directly takes out the colour ball of corresponding color from colour ball frame, is placed on billiard table corresponding position, then It goes before taking to fall into the colour ball benefit in hole again and be placed in colour ball frame.To save from billiard table hole take out colour ball when Between.
(2) the utility model occupied area is small, and can actively avoid player and other barriers in use, And in robot electric quantity less than 30 percent Shi Houke automatic charging.It solves traditional artificial swing ball labour and consumes big Problem, and swing ball is more efficient, swing ball position precision is high, practical, is suitable for the occasions such as Snooker match, has centainly Application value.
Detailed description of the invention
Fig. 1 is integrally-built isometric drawing when robot has shell.
Fig. 2 is the isometric drawing that robot removes internal structure after shell.
Fig. 3 is the isometric drawing of robot running gear.
Fig. 4 is the front view of robot running gear.
Fig. 5 is the isometric drawing of robot lifting platform and triangle frame ejecting mechanism.
Fig. 6 is that robot triangle frame ejecting mechanism removes the side view after triangle frame support plate upper plate.
Fig. 7 is that robot base realizes that the isometric drawing behind arm chassis is removed in rotation.
Fig. 8 is that robot base realizes that rotation has the isometric drawing of pedestal shell.
Fig. 9 is the isometric drawing that robot realizes big arm swing planetary gear and worm gear mechanism removes pedestal shell.
Figure 10 is that robot realizes that big arm swing planetary gear removes the isometric drawing of pedestal shell.
Figure 11 is the isometric drawing that robot the second section arm connect specific structure with large arm.
Figure 12 is the isometric drawing that robot the second section arm connect specific structure with telescopic arm.
Figure 13 is the flexible specific structure isometric drawing of telescopic arm.
Figure 14 is the isometric drawing of the specific structure of mechanical paw.
Figure 15 is a series of program chart of receipts processes of ball after robot match.
Figure 16 is a series of flow chart of receipts processes of ball after robot match.
Figure 17 is the program chart that robot uses two sets of ball thinkings.
Figure 18 is the flow chart that robot uses two sets of ball thinkings.
In figure: 1 gripper;2 telescopic arms;3 second section arms;4 large arm;5 front cameras;6 pedestals;7 single-chip microcontrollers;8 rows Walk mechanism;9 colour ball frames;10 batteries;11 gripper cameras;12 connecting plates;13 fingers;14 screw rods;15 nuts;16 vacuum are inhaled Disk;17 telescopic arm support plates;18 rack gears;19 motor A;20 bevel gear A;21 axis A;22 bevel gear B;23 spur gear A;24 second Save arm support plate;25 joint casees;26 sliding rail A;27 sliding rail B;28 gear-boxes;29 motor B;30 arm chassis;31 internal gear A; 32 planetary gear sets;33 set squares;34 Archimedes's worm and gears;35 column A;36 motor C;37 motor D;38 spur gear F;39 Internal gear B;40 crossbars;41 cylinders;42 bottoms;It is pushed up on 43;44 funnels;45 have the fixed block of tapped through hole;46 triangle frames Support plate;47 lead screw motor A;48 lead screw motor B;Triangle frame built in 49;50 sponges;51 thigh support boards;52 pieces of A;53 pieces of B; 54 pieces of C;55 dampers;56 right-angle connecting plates;57 motor E;58 spur gear B;59 bevel gear C;60 spur gear C;61 Mecanums Wheel;62 support rods;63 shells;64 compare scoreboard;65 wheel shafts;66 bevel gear D;67 spur gear D;68 spur gear E;69 spur gear G; 70 spur gear H;71 spur gear I;72 arm support seats;73 fixing seats;74 gear guard boxs;75 gear set A;The protection of 76 suckers Set;77 fixed plates;78 internal tooth wheeling supporting frames;79 telescopic arm shells;80 second section arm shells;81 pedestal shells;82 spur gears J;83 axis B.
Specific embodiment
The technical solution of the utility model is further detailed below in conjunction with specific embodiments and the drawings.
Embodiment 1: the walking of robot
Motor E57 starting drives spur gear C60 rotation, and spur gear C60 drives spur gear B58 rotation, thus with mantle tooth C59, bevel gear D66, spur gear D67, spur gear E68 rotation are taken turns, wherein bevel gear C59, bevel gear D66 realize motor E57 The change in transmission speed direction;Spur gear E68 drives the rotation of the realization Mecanum wheel 61 of wheel shaft 65.
The leg of robot is made of four leg walking mechanisms 8, can pass through the rotation direction of change motor E57 respectively To the forward direction movement for changing the positive and negative rotation of Mecanum wheel 61 respectively to realize robot, reverse movement is moved left and right, left and right It turns and rotates in place.Front camera 5 can help robot to avoid obstacle in robot ambulation.
Embodiment 2: ball is grabbed by robot
Before match starts, the colour ball in addition to red ball is grabbed and is placed on corresponding seat, realizes swing ball function Energy;During the games, if the colour ball in addition to red ball is fallen into net, robot grabs the corresponding colour ball in colour ball frame 9 And be placed on the corresponding seat of billiard table, while the colour ball fallen into net in addition to red ball is grabbed and put back to colour ball frame 9, it is real Time-saving miscellaneous function between existing match period;After end of match, robot is on billiard table and falling into all in net Ball is grabbed, and red ball is put into triangle frame, and colour ball is put into colour ball frame 8, realizes and receives ball function.
For receiving ball after end of match: after end of match, passing through the gripper being fixed on above sucker fixed plate 77 Camera 11 realizes the identification to billiard ball color, to make robot that accurately colour ball is put into colour ball frame 9, in red ball is put into It sets in triangle frame 49.Robot will drive spur gear F38, spur gear G69, spur gear H70, spur gear I71 mono- by motor D37 The rotation of Series Gear is rotated to the arm chassis 30 for driving internal gear and being fixed on internal gear, until rotating to corresponding Angle;Motor C36 column A35 is to drive Archimedes's worm and gear 34 to rotate, wherein in Archimedes's worm and gear 34 Worm gear drives set square 33 to rotate, and further, the axis on set square 33 drives the rotation of planetary gear set 32 to drive large arm 4 It swings, planetary gear set 32 has the function of deceleration, and Archimedes's worm and gear 34 may be implemented self-locking, make the pendulum of large arm 4 Dynamic position is fixed;Second section arm 3 drives gear-box 28 to drive its swing by motor B29;Telescopic arm 2 passes through motor A19 band dynamic bevel gear A20, bevel gear B22 rotation further drives spur gear A23, spur gear J82 rotation, wherein commutating tooth Wheel J82 is engaged with the rack gear 18 for the inside for being fixedly mounted on the second section arm shell 80;Motor A19 drives turning for series of gears It is dynamic, and then spur gear J82 is driven to slide on rack gear 18, thus drive telescopic arm 2 and gripper 1 along rack gear 18 stretch out with It retracts;The sliding rail B27 on 3 side sliding rail A26 and the second section arm on 2 side of telescopic arm stablizes the stretching and retraction of auxiliary telescopic arm 2.It is logical Large arm 4 is crossed, the swing of the second section arm 3 and telescopic arm 2 stretch and robot arm can be made to reach billiard table any of the above angle It falls and the off line interior any corner of billiard table.
Gripper 1 drives gear set A75 rotation by power source of motor, so that screw rod 14 is driven to rotate, screw rod 14 and spiral shell Rotary motion is converted linear motion by mother 15, realizes gripper 1 by the four-bar mechanism being made of connecting plate 12 and gripper 1 Promptly and release.Gripper 1 is the accurate positioning realized to ball, and the vacuum chuck 16 inside gripper 1 is occurred by vacuum The ball grabbed is fixed in device realization in pawl.
Structure is rotated by arm, arm is flexible and gripper 1 realizes robot before match, in match, to phase after match Answer the crawl of ball.
Embodiment 3: triangle frame swing ball
After end of match, the red ball of crawl is put into built-in triangle frame 49 by gripper 1 by funnel 44.Red ball is successively It tumbles in built-in 49 internal arrangement of triangle frame into equilateral triangle.Further, the sponge 50 that built-in 49 inner wall of triangle frame has is right Red ball plays fastening anti-slip.
Before match, robot goes to the middle of the wide side of billiard table table by walking mechanism 8;The driving of cylinder 41 is cut Fork elevating platform rises;Rise to billiard table with it is high when, lead screw motor A47, lead screw motor B48 drive screw rod rotation, screw rod Rotary motion, which is turned to linear motion, by screwed fixed block 45 releases triangle frame, and red spherical pendulum is made to be put into correct position Son.
4: two sets of ball thinkings of embodiment
During the games, there is the colour ball in addition to red ball to fall into net, robot gripper's camera 11 identifies rapidly, The ready corresponding colour ball being placed on a colour ball frame 9 is placed on the corresponding seat of billiard table, time in is carried out;Into One step, the colour ball fallen into net is then fetched again by robot.To save fixture.
Embodiment 5: automatic charging
Robot can go to charge automatically in the case where induction power supply is less than 30 percent.
Embodiment 6: circuit control
Single-chip microcontroller 7 controls the completion of each movement of circuit, that is, robot.

Claims (1)

1. a kind of automatic Shou Bai robot of movable type snooker, which is characterized in that the robot includes shell (63), pedestal (6), the gripper (1), mechanical arm, lifting swing ball mechanism, two colour ball frames (9), battery (10) of pedestal (6) upper surface are set to With single-chip microcontroller (7), and it is set to the walking mechanism (8) of pedestal (6) lower surface;
The pedestal (6) includes transverse bottom plate, longitudinal base plate and floor box, and longitudinal base plate is vertically installed under transverse bottom plate Surface provides tie point for walking mechanism (8), and floor box is set to transverse bottom plate upper surface, provides branch for arm chassis (30) Support;
Totally four, the walking mechanism (8), each walking mechanism (8) include thigh support board (51), block A (52), block B (53), block C (54), damper (55), right-angle connecting plate (56), motor E (57), spur gear B (58), bevel gear C (59), commutating tooth Take turns C (60), bevel gear D (66), spur gear D (67), spur gear E (68), Mecanum wheel (61) and wheel shaft (65);Two legs Support plate (51) is connected in parallel in the longitudinal base plate of pedestal (6), the braced frame as walking mechanism (8);Block A (52) is fixed In the transverse bottom plate of pedestal (6), damper (55) upper shaft passes through block A (52), can realize and rotate relative to block A (52);Subtract Shake device (55) lower end axis two sides are each passed through block B (53), block C (54), and are fixed on the upper surface of right-angle connecting plate (56);Right angle Connecting plate (56) limitation is fixed between two thigh support boards (51), fixing side axis and motor E on right-angle connecting plate (56) (57);The output shaft of motor E (57) is connected with spur gear C (60), and spur gear B (58) and bevel gear C (59) are fixed as one simultaneously It is sleeved on the axis of side, it is ensured that spur gear B (58) and spur gear C (60) engagement;Bevel gear D (66) and spur gear D (67) passes through Axis connection, and be respectively arranged inside and outside thigh support board (51), wherein bevel gear D (66) is set to thigh support board (51) inside, and bevel gear D (66) is engaged with bevel gear C (59);Spur gear D (67) is set on the outside of thigh support board (51), And it is engaged with the spur gear E (68) set on the outside of thigh support board (51);Mecanum wheel (61) is sandwiched in two thigh supports Between plate (51), wheel shaft (65) sequentially passes through a thigh support board (51), Mecanum wheel (61), another thigh support board (51), fixed with spur gear E (68), the rotation of series of gears can be realized the rotation of Mecanum wheel (61);
The mechanical arm includes arm pedestal, large arm (4), the second section arm (3) and telescopic arm (2);Large arm (4) lower end passes through hand Arm pedestal is set on the floor box of pedestal (6), can be realized the rotation for arm pedestal, large arm (4) upper end and the second section Arm (3) lower end is connected, and the second section arm (3) is located at telescopic arm (2) two sides, between telescopic arm (2) and the second section arm (3), Side is moved up and down by rack gear (18) and gear cooperation, and the other side is slided up and down by sliding rail realization;
The arm pedestal includes arm chassis (30), motor D (37), spur gear F (38), spur gear G (69), spur gear H (70), spur gear I (71), internal gear B (39), internal tooth wheeling supporting frame (78), internal gear A (31), planetary gear set (32), triangle Plate (33), Archimedes's worm and gear (34), column A (35), motor C (36), arm support seat (72) and pedestal shell (81);Internal tooth Wheel B (39) is fixed on the floor box of pedestal (6);Motor D (37) is fixed in the transverse bottom plate of pedestal (6), and output end with Spur gear F (38) is connected;Spur gear G (69) is located at below spur gear H (70), and the two is fixed to each other, and realizes with transverse bottom plate It is coaxially connected;Spur gear I (71) and transverse bottom plate realize axis connection;Ensure that spur gear G (69) and spur gear F (38) is mutually nibbled simultaneously It closes, spur gear H (70) is meshed with spur gear I (71), and spur gear I (71) is meshed with internal gear B (39);Arm chassis (30) It is fixed on the upper surface of (39) internal gear B;When motor D (37) is rotated, the rotation of series of gears group is driven, and then realize arm bottom The rotation of disk (30);Internal tooth wheeling supporting frame (78) and arm support seat (72) are arranged side by side in the upper surface of arm chassis (30), Internal tooth wheeling supporting frame (78) side fixed annulus A (31), internal gear A (31) are meshed with planetary gear set (32);Planet tooth It is connect by set square (33) with the worm gear in Archimedes's worm and gear (34) on the outside of wheel group (32), wherein set square (33) Two sides are fixedly connected with planetary gear set (32), Archimedes's worm and gear (34) respectively by axis;Archimedes's worm and gear (34) worm screw in realizes axis connection by the output end of column A (35) and motor C (36);Motor C (36) is made by pedestal shell (81) For support, the rotation on arm chassis (30) can be followed and rotated;Motor C (36) drives Archimedes's worm and gear (34) to turn Dynamic, to realize the swing of large arm (4), planetary gear set (32) reduces the swing speed of large arm (4), Archimedes snail to control The self-locking function of worm and gear (34) stops to control the beginning of large arm (4) swing;
The lower end of the large arm (4) passes through axis connection among the arm support seat (72) for being located at rotating mechanism top, the upper end Two sides are connected by gear-box (28) with second section arm support plate (24) lower end, motor B (29) output end and gear-box (28) Axis connection;
The second section arm (3) includes the second section arm support plate (24), sliding rail B (27) and the second section arm shell (80); Second section arm (3) is internal to make skeletal support with the second section arm support plate (24);Sliding rail B (27) is set to outside the second section arm It on the inside of shell (80), is matched with the sliding rail A (26) in the outside for being set to telescopic arm shell (79), above and below completion telescopic arm (2) Sliding;
The telescopic arm (2) includes telescopic arm support plate (17), telescopic arm shell (79), sliding rail A (26), rack gear (18), motor A (19), bevel gear A (20), axis A (21), bevel gear B (22) and spur gear A (23), axis B (83) and spur gear J (82);Telescopic arm (2) internal to make skeletal support with telescopic arm support plate (17), motor A (19) is fixed on the inside of two telescopic arm support plates (17), And output end and bevel gear A (20) axis connection;Axis A (21), axis B (83) both ends be separately fixed at perpendicular to telescopic arm support plate (17) on telescopic arm shell (79) inner surface, and axis A (21) is arranged the bevel gear B (22) and spur gear A (23) being fixed to each other, Axis B (83) is arranged spur gear J (82), and spur gear J (82) is located at the lower section of telescopic arm support plate (17), it is ensured that bevel gear A (20) It is engaged with bevel gear B (22), spur gear A (23) is engaged with spur gear J (82);Rack gear (18) is fixedly mounted on outside the second section arm The inside of shell (80), spur gear J (82) are engaged with rack gear (18);Motor A (19) drives the rotation of series of gears, and then drives Spur gear J (82) is slided on rack gear (18), drives the linear motion of telescopic arm (2);
The gripper (1) passes through joint case (25) and telescopic arm (2) axis connection;Gripper includes finger (13), connecting plate (12), fixing seat (73), gear guard box (74), nut (15), screw rod (14), gear set A (75), sucker protective case (76), Fixed plate (77), vacuum chuck (16) and gripper camera (11);Finger (13) lower part is connected by axis with fixing seat (73), Fixing seat (73) lower end connection gear guard box (74);Finger (13) middle and lower part turning point passes through one end of axis and connecting plate (12) It is connected, the other end of connecting plate (12) is connected by axis with nut (15);Nut (15) is set on screw rod (14), screw rod (14) Lower end is connected by the axis gear set A (75) internal with gear guard box (74), and gear set A (75) is driven by motor, drives spiral shell Bar (14) rotation, and then move up and down nut (15) along screw rod (14);Nut (15) upper end fixing sucking disk protective case (76) is inhaled Fixed plate (77) are equipped with inside disk protective case (76), gripper camera (11) and 3 vacuum chucks are set in fixed plate (77) (16), gripper camera (11) is located at the center of fixed plate (77), and 3 vacuum chucks (16) are distributed in machinery in equilateral triangle The periphery of pawl camera (11);
The lifting swing ball mechanism includes lifting platform and triangle frame ejecting mechanism;
The lifting platform includes cylinder (41), crossbar (40), support rod (62), bottom (42) He Shangding (43);Crossbar It (40) is z font structure, every a pair of crossbar (40) is connected together by straight pin, constitutes crossbar group, a pair of cross bar group Between by support rod (62) be connected, each pair of crossbar group is stacked down through straight pin, according to lifting platform stretch height, certainly Determine the number of crossbar group;The crossbar group of the top and the crossbar group of bottom pass through respectively axis be limited in top (43) and It goes to the bottom in the limiting slot of (42) side;Cylinder (41) is connected with the limiting slot of bottom (42) side, drives the elongation of crossbar group And contraction;
The triangle frame ejecting mechanism includes triangle frame support plate (46), built-in triangle frame (49), funnel (44), logical with screw thread Fixed block (45), lead screw motor A (47) and the lead screw motor B (48) in hole;Triangle frame support plate (46) includes upper plate, lower plate and branch Column is connected between upper plate and lower plate by pillar;The upper plate of triangle frame support plate (46) is fixed on the upper surface of (43) Shang Ding, and three Through-hole, for placing funnel (44), the following table of triangle frame support plate (46) upper plate is arranged in angle frame support plate (46) upper plate upper surface Face two side ends fix the fixed block (45) for having tapped through hole respectively;It is equipped between the upper plate and lower plate of triangle frame support plate (46) Built-in triangle frame (49), fixation skids off plate on built-in triangle frame (49), skids off plate and fixes far from the both ends of built-in triangle frame (49) Fixed block (45) with tapped through hole, lead screw motor A (47) sequentially pass through triangle with the screw rod in lead screw motor B (48) respectively The fixed block (45) of the lower surface two side ends of frame support plate (46) upper plate and skid off both ends of the plate far from built-in triangle frame (49) Fixed block (45) realizes the linear motion for converting the rotation of lead screw motor to built-in triangle frame (49);Built-in triangle frame (49) For bottomless triangle frame, inside has sponge, plays anti-skidding fastening effect to internal billiard ball;
The surface two sides of the shell (63) are symmetrically installed there are two front camera (5), and front is fixed than scoreboard (64);
There are six the holes that diameter is 50mm -55mm, depth 18mm-22mm for the colour ball frame (9).
CN201821590045.9U 2018-09-28 2018-09-28 A kind of automatic Shou Bai robot of movable type snooker Expired - Fee Related CN208893592U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110898418A (en) * 2019-11-29 2020-03-24 湖北工业大学 Automatic ball collecting and placing device and method for siloke

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110898418A (en) * 2019-11-29 2020-03-24 湖北工业大学 Automatic ball collecting and placing device and method for siloke

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