CN209564611U - Intelligent entertaining juggles robot - Google Patents

Abstract

It juggles robot the utility model discloses intelligent entertaining, including upright bar, pedestal is provided with below the upright bar, and bottom fixing frame is fixedly connected between pedestal and upright bar, the upper end outer surface of the upright bar is fixedly installed with top fixed frame, and the upper end outer surface of top fixed frame is fixedly installed with horizontal bearing, the inside of two horizontal bearings is provided through optical axis, the outer surface of the optical axis is enclosed with synchronizing wheel close to intermediate position, belt is connected between upper and lower two synchronizing wheels, platform is provided with above the pedestal, and connecting rod is fixedly connected between platform and belt.The utility model makes the present apparatus that can effectively improve balance of the platform when carrying out upper underdrive in use by being provided with a series of structure, so that the up and down motion time of ball is longer, it adds robot and performs the entertainment and ornamental value to juggle, optimize use process.

Description

Intelligent entertaining juggles robot

Technical field

The utility model relates to interesting device technical field, specially intelligent entertaining juggles robot.

Background technique

Table tennis can play the role of keeping fit and healthy as a sports, and people are according to the movement feelings of table tennis Condition has devised one kind and juggles robot, further shown the glamour of table tennis, and improve people's lives enjoyment, but The existing robot that juggles, it is poor that platform runs balance, the case where being easy to happen racket inclination, and its run duration compared with It is short, its ornamental value is influenced, its service performance is reduced.

Utility model content

It juggles robot the purpose of this utility model is to provide intelligent entertaining, it is mentioned above in the background art to solve Problem.

To achieve the above object, the utility model provides the following technical solutions: intelligent entertaining juggles robot, including vertical Bar is provided with pedestal below the upright bar, and is fixedly connected with bottom fixing frame between pedestal and upright bar, the upright bar it is upper End outer surface is fixedly installed with top fixed frame, and the upper end outer surface of top fixed frame is fixedly installed with horizontal bearing, and two The inside of the horizontal bearing is provided through optical axis, and the outer surface of the optical axis is enclosed with synchronizing wheel close to intermediate position, Be connected with belt between upper and lower two synchronizing wheels, be provided with platform above the pedestal, and platform and belt it Between be fixedly connected with connecting rod, the upper end outer surface of the pedestal is fixedly installed with stepping electricity close to the position of bottom fixing frame Machine, and stepper motor is fixedly connected far from a side external surface of bottom fixing frame with synchronizing wheel, the leading exterior surface of the platform Racket is fixedly installed with close to middle.

By using above-mentioned technical proposal, balance of the platform when carrying out upper underdrive can be effectively improved, so that The up and down motion time of ball is longer, adds robot and performs the entertainment and ornamental value to juggle.

Preferably, the shape of the pedestal and platform is hexahedron, and the size of platform is less than the size of pedestal, described The central point of platform and the central point of pedestal are located on same vertical line.

By using above-mentioned technical proposal, so that platform is located at the surface of pedestal, prevent the upright bar around pedestal from stopping The up and down motion of platform.

Preferably, the quantity of the upright bar is three groups, and every group of quantity is two, and its edge for being evenly distributed on pedestal Place.

By using above-mentioned technical proposal, balance of the platform when carrying out upper underdrive can be improved.

Preferably, the quantity of the connecting rod is three, and it is corresponding with every group of upright bar respectively, and the racket is located at phase Between adjacent two connecting rods.

By using above-mentioned technical proposal, belt can carry out upper movement by connecting rod band moving platform, so that ball Bat moves up and down.

Preferably, the quantity of the stepper motor is three, and it is corresponded with every group of upright bar.

By using above-mentioned technical proposal, stepper motor passes through the belt being arranged between synchronizing wheel and every group of upright bar and is connected, Enter working condition so as to band moving platform.

Preferably, the upper end outer surface of the platform is fixedly installed with camera far from one end of racket.

The location information of ball is obtained for carrying out Image Acquisition by using above-mentioned technical proposal.

In conclusion the utility model has the following beneficial effects:

By setting three groups for the quantity of upright bar, every group of quantity is two, is evenly distributed on the edge of pedestal, When stepper motor drives belt transmission, it is able to drive platform and is moved, by the collective effect of three groups of belts, effectively mentioned Balance of the high platform when carrying out upper underdrive prevents the case where racket tilts, so that the up and down motion time of ball is more It is long, its service performance is improved, and robot architecture's principle is simple, convenient for users to operation, adds robot performance and juggle Entertainment and ornamental value.

Detailed description of the invention

Fig. 1 is the overall structure diagram of the utility model；

Fig. 2 is the side view diagram of the utility model；

Fig. 3 is the working principle diagram of the utility model.

In figure: 1, upright bar；2, pedestal；3, bottom fixing frame；4, top fixed frame；5, horizontal bearing；6, optical axis；7, synchronous Wheel；8, belt；9, platform；10, connecting rod；11, stepper motor；12, racket；13, camera.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

In the description of the present invention, it should be noted that term " on ", "lower", "inner", "outside" " front end ", " after The orientation or positional relationship of the instructions such as end ", " both ends ", " one end ", " other end " is that orientation based on the figure or position are closed System, is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning are necessary It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, Term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " being provided with ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, be also possible to detachably connect It connects, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediate matchmaker can also be passed through Jie is indirectly connected, and can be the connection inside two elements.It for the ordinary skill in the art, can be with concrete condition Understand the concrete meaning of above-mentioned term in the present invention.

A kind of embodiment provided by the utility model referring to FIG. 1-2: intelligent entertaining juggles robot, including upright bar 1, Pedestal 2 is arranged in the lower section of upright bar 1, and bottom fixing frame 3 is fixedly connected between pedestal 2 and upright bar 1, and the upper end outer surface of upright bar 1 is solid Dingan County dress top fixed frame 4, the upper end outer surface of top fixed frame 4 are fixedly mounted horizontal bearing 5, two horizontal bearings 5 it is interior Through setting optical axis 6, the outer surface of optical axis 6 is living between intermediate position package synchronizing wheel 7, upper and lower two synchronizing wheels 7 in portion Dynamic connection belt 8, the top of pedestal 2 are arranged platform 9, connecting rod 10 are fixedly connected between platform 9 and belt 8, first will be each Component fits together, and by the robot external power supply power supply unit, so that stepper motor 11 and camera 13 enter work shape Racket 12 is fixedly mounted close to middle in the leading exterior surface of state, platform 9, and ball is lost on racket 12, and camera 13 shoots ball Photo, be transferred on computer, computer handles image, pass through color identification obtain ball X-axis, Y axis coordinate, root The distance of distance between ball and camera 13 is determined according to the radius of ball, to obtain the Z axis coordinate of ball, obtains the space coordinate of ball Later, its point of impingement and dynamics are predicted, the next step movement for the robot that juggles is planned, obtains next step X, Y, Z axis step Stepper motor is fixedly mounted close to the position of bottom fixing frame 3 in the upper end outer surface of the distance moved into motor 11, pedestal 2 11, stepper motor 11 is fixedly connected far from a side external surface of bottom fixing frame 3 with synchronizing wheel 7, and then stepper motor 11 drives Belt 8 is driven, and belt 8 is moved up and down by connecting rod 10 with moving platform 9, so that racket 12 is driven to be moved, so that Ball can realize the movement to juggle on racket 12, the function that entertaining juggles be realized, by three belts 8 simultaneously with moving platform 9 It moves up and down, can effectively improve balance of the platform 9 when carrying out upper underdrive, so that the up and down motion time of ball It is longer, its service performance is improved, robot is added and performs the entertainment and ornamental value to juggle, optimize use process.

Referring to Fig. 3, shooting by camera 13 to ball after external power supply power supply unit, its plane coordinates is obtained, The Z axis coordinate of ball is obtained according to the radius of ball, to obtain the space coordinate of ball, then the next step for the robot that juggles is acted It is planned, obtain next step X, Y, the distance that Z axis stepper motor 11 is moved is driven racket 12 by belt 8, makes The movement to juggle can be realized on racket 12 by obtaining ball.

Further, the shape of pedestal 2 and platform 9 is hexahedron, and the size of platform 9 is less than the size of pedestal 2, platform 9 Central point and the central point of pedestal 2 be located on same vertical line so that platform 9 is located at the surface of pedestal 2, prevent pedestal 2 The upright bar 1 of surrounding stops the up and down motion of platform 9.

Further, the quantity of upright bar 1 is three groups, and every group of quantity is two, is evenly distributed on the edge of pedestal 2, It can be improved balance of the platform 9 when carrying out upper underdrive.

Further, the quantity of connecting rod 10 is three, corresponding with every group of upright bar 1 respectively, and racket 12 is located at adjacent two Between a connecting rod 10, belt 8 can carry out upper movement with moving platform 9 by connecting rod 10, so that racket 12 carries out Lower movement.

Further, the quantity of stepper motor 11 is three, is corresponded with every group of upright bar 1, and stepper motor 11 passes through same The belt 8 being arranged between step wheel 7 and every group of upright bar 1 is connected, and enters working condition so as to band moving platform 9.

Further, the upper end outer surface of platform 9 is fixedly installed with camera 13 far from one end of racket 12, for carrying out figure As acquisition, the location information of ball is obtained.

It should be noted that the utility model is that intelligent entertaining juggles robot, in use, first assembling all parts Together, and by the robot external power supply power supply unit, so that stepper motor 11 and camera 13 enter working condition, the stepping The model XD-3420-2 of motor 11, ball is lost on racket 12, and camera 13 shoots the photo of ball, the type of the camera 13 Number it is XM-JPR, is transferred on computer, computer handles image, passes through that color identification obtains the X-axis of ball, Y-axis is sat Mark, the distance of distance between ball and camera 13 is determined according to the radius of ball, to obtain the Z axis coordinate of ball, obtains the sky of ball Between after coordinate, predict its point of impingement and dynamics, the next step movement for the robot that juggles planned, next step X, Y are obtained, The distance that Z axis stepper motor 11 is moved, then stepper motor 11 drives belt 8 to be driven, and belt 8 is driven flat by connecting rod 10 Platform 9 moves up and down, so that racket 12 be driven to be moved, ball is enabled to realize the movement to juggle on racket 12, real The function that existing entertaining juggles is moved up and down simultaneously with moving platform 9 by three belts 8, can effectively improve platform 9 and exist Balance when underdrive is carried out, the case where racket 12 tilts is prevented, so that the up and down motion time of ball is longer, is improved Its service performance adds robot and performs the entertainment and ornamental value to juggle, effectively increases the functionality of its own, more in fact With.

It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting Related claim.

Claims (6)

1. Robot, including upright bar (1) 1. intelligent entertaining juggles, it is characterised in that: be provided with pedestal below the upright bar (1) (2), it and between pedestal (2) and upright bar (1) is fixedly connected with bottom fixing frame (3), the upper end outer surface of the upright bar (1) is fixed Top fixed frame (4) is installed, and the upper end outer surface of top fixed frame (4) is fixedly installed with horizontal bearing (5), described in two The inside of horizontal bearing (5) is provided through optical axis (6), and the outer surface of the optical axis (6) is enclosed with together close to intermediate position Step takes turns (7), is connected with belt (8), is provided with above the pedestal (2) flat between upper and lower two synchronizing wheels (7) Platform (9), and connecting rod (10) are fixedly connected between platform (9) and belt (8), the upper end outer surface of the pedestal (2) is close The position of bottom fixing frame (3) is fixedly installed with stepper motor (11), and the one of stepper motor (11) separate bottom fixing frame (3) Side external surface is fixedly connected with synchronizing wheel (7), and the leading exterior surface of the platform (9) is fixedly installed with racket close to middle (12)。
2. The robot 2. intelligence entertaining according to claim 1 juggles, it is characterised in that: the pedestal (2) and platform (9) Shape is hexahedron, and the size of platform (9) is less than the size of pedestal (2), central point and pedestal (2) of the platform (9) Central point be located on same vertical line.
3. The robot 3. intelligence entertaining according to claim 1 juggles, it is characterised in that: the quantity of the upright bar (1) is three Group, every group of quantity is two, and its edge for being evenly distributed on pedestal (2).
4. 4. intelligence entertaining according to claim 1 juggles robot, it is characterised in that: the quantity of the connecting rod (10) is Three, and it is corresponding with every group upright bar (1) respectively, the racket (12) is between two neighboring connecting rod (10).
5. The robot 5. intelligence entertaining according to claim 1 juggles, it is characterised in that: the quantity of the stepper motor (11) It is three, and it is corresponded with every group of upright bar (1).
6. The robot 6. intelligence entertaining according to claim 1 juggles, it is characterised in that: the upper end appearance of the platform (9) Face is fixedly installed with camera (13) far from one end of racket (12).