CN210125158U

CN210125158U - Shooting robot

Info

Publication number: CN210125158U
Application number: CN201920155663.9U
Authority: CN
Inventors: 白颖; 蒋庆斌; 周斌
Original assignee: Changzhou Vocational Institute of Mechatronic Technology
Current assignee: Changzhou Vocational Institute of Mechatronic Technology
Priority date: 2019-01-29
Filing date: 2019-01-29
Publication date: 2020-03-06
Anticipated expiration: 2029-01-29

Abstract

The utility model discloses a shooting robot, shooting robot includes: actuating mechanism, control system, actuating mechanism includes: the shooting part and the arm part are connected through the shooting support block, the arm part is mounted on the rack, the ball picking part is mounted on the rack, and the wheel is mounted on the rack; the actuating mechanism adopts the motor drive mode to drive, includes: a hand ball throwing motor, an arm stretching motor, an arm adjusting motor, a ball picking motor and a wheel motor; the control system adopts a PLC program to realize the control of the shooting robot. The utility model discloses a shooting robot is a multi freedom intelligence shooting robot, can realize the accurate basket of going into of basketball, also can guarantee to judge advantages such as accurate, quick ball, regulation convenience when having guaranteed the success rate.

Description

Shooting robot

Technical Field

The utility model relates to an intelligent robot field especially relates to a shooting robot.

Background

Robotics is considered as "most modern automation", and the continuous increase in intelligence is a remarkable feature of the development of modern robots. Nowadays, human beings put more and more work on robots to perform the completion, and therefore more and more functions are required and configured on the robots in the design process of the robots. In a sense, a shooting robot may be viewed as a representative of a mobile robot in combination with a robotic arm and operating intelligently.

Although the research on the shooting robot can not help our daily life very quickly, it should be understood that the research on the robot in various fields of various countries aims to add more comprehensive and intelligent functions to the robot instead of the pure mechanical arm adopted by the previous generation of robot. Therefore, the shooting robot can be regarded as a concrete embodiment of the robot integrating multiple functions, and is a very direct attempt for an intelligent robot.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that break away from the design of simple robotic arm, provide a shooting robot, the utility model discloses effectively solved the following action that needs to be accomplished at shooting robot match in-process: the basketball shooting device can automatically finish moving, avoid obstacles, find and pick up basketballs, measure target distance, adjust power and shoot.

In order to solve the technical problem, the utility model provides a shooting robot, a serial communication port, shooting robot includes: the shooting robot comprises an execution mechanism, a driving mechanism and a control system, wherein the control system is used for controlling the driving mechanism and the execution mechanism so as to realize the tasks of picking balls and shooting the balls;

the actuator includes: the shooting device comprises a shooting part, an arm part, a ball picking part, wheels and a rack of the shooting robot, wherein the shooting part is connected with the arm part through a shooting support block, the arm part is installed on the rack, the ball picking part is installed on the rack, and the wheels are installed on the rack;

the actuating mechanism adopts the motor drive mode to drive, includes: the hand ball throwing motor is mounted on a throwing hand supporting block of a throwing hand, the arm adjusting motor is mounted on a three-layer plate of the rack, the arm telescopic motor is mounted on a swing arm connecting plate of the arm, the ball picking motor is mounted on a ball picking supporting plate of the ball picking part, and the wheel motor is mounted on a layer plate of the rack;

the control system adopts a PLC program to realize the control of the shooting robot.

As a further improvement, the shooting hand of the shooting robot includes hand bowling motor, hand reducing gear box, bearing, shooting hand, hand supporting seat, the three-layer board of frame with the hand bowling motor passes through the bolt fastening, the hand bowling motor passes through the drive after the hand reducing gear box slows down the shooting hand, shooting hand pass through bearing and hand supporting seat connection, and when the hand bowling motor rotates, the shooting hand rotates thereupon, throws the ball.

As a further improvement of the utility model, the throwing hand of the throwing hand part adopts a spherical shell, and the spherical shell in front of the rod is low, so that the ball picked up by the ball picking part is guaranteed to be caught by the throwing hand; the rear spherical shell of the rod is high, so that the throwing hand part can provide enough force when throwing the ball.

As a further improvement of the utility model, the throwing hand part is fixedly connected to the throwing hand supporting block through a bolt, the throwing hand supporting block is matched with the lead screw of the arm part, and the lead screw is driven to rotate under the rotation of the arm part telescopic motor, so that the position of the whole throwing hand part is adjusted; the initial position of the throwing hand part is that the throwing hand rod is vertical and is positioned at the last section of the screw rod, and the initial position is recovered after each ball throwing adjustment.

As a further improvement of the present invention, the arm of the shooting robot includes an arm adjusting motor, an adjusting coupling, a helical gear, a shaft, a key, a helical gear shaft, a supporting seat, an arm adjusting bearing, a sleeve ring, a swing arm connecting plate, an arm telescopic motor, a telescopic coupling, a lead screw, and an arm telescopic bearing, when the arm adjusting motor rotates, the adjusting coupling and the shaft are driven to rotate, the helical gear rotates under the transmission action of the key and the supporting action of the supporting seat and the arm adjusting bearing, so as to drive the helical gear shaft to rotate, because the helical gear shaft is fixedly connected with the sleeve ring, the sleeve ring is fixed with the swing arm connecting plate, and the arm also rotates along with the helical gear shaft; when the arm stretching motor rotates, the stretching coupler and the lead screw are driven to rotate, so that the pitcher support block is enabled to perform small displacement, and the purpose of adjusting the effective length of the arm is achieved.

As a further improvement of the utility model, the ball picking part comprises a ball picking claw, a ball picking support plate, a ball picking bearing, a reduction gearbox and a ball picking motor, wherein the initial position of the ball picking claw and the ball picking support are almost coincided. When the ball is picked up, the ball picking claw starts to rotate under the action of the ball picking motor until the ball rotates to form an obtuse angle with the ball picking support, the ball falls into the throwing hand along the ball picking claw under the action of gravity, the ball picking action is finished, and the initial position is recovered.

As a further improvement of the present invention, the wheels of the shooting robot include a wheel motor, a wheel coupling, a wheel shaft, a wheel key, a wheel bearing, a wheel frame, and an omnidirectional wheel; the wheel motor drives the wheel through the wheel coupler, the wheel shaft and the wheel key, and is fixed on the rack through the wheel bearing and the wheel frame.

As a further improvement of the utility model, the omniwheel of wheel is formed by steamboat and wheel carrier cooperation, the steamboat is the cydariform, the wheel carrier is formed by regular octagon excision, and steamboat and wheel carrier are a complete circular appearance in the cooperation of side, make the wheel rotation process keep steadily.

As a further improvement, the wheels are three groups in total, and the wheels of three groups are symmetrical angles and pass through the bolt fastening on a plywood of frame to guarantee the holistic stability of shooting robot.

As a further improvement of the utility model, the shooting robot the frame includes a plywood, two plywoods, three plywoods, two preceding support posts, two back support posts, right angle connecting block. The front end and the rear end of the first layer plate are respectively connected and fixed with the front support rod and the rear support rod, and the first layer plate is mainly used for installing and fixing wheels; the two-layer board is fixedly arranged above the first layer board by utilizing the right-angle connecting block, and the specific function of the two-layer board is to arrange a circuit board and the like which are responsible for the intellectualization of the shooting robot on the upper part of the two-layer board; and the three-layer plate is fixedly arranged above the two-layer plate by utilizing the right-angle connecting block, and the main functions of the three-layer plate are fixing the arm part, the ball picking part and the like.

The utility model discloses the beneficial effect who reaches: according to the technical scheme adopted by the utility model, the shooting robot of the utility model realizes autonomous movement, obstacle avoidance, basketball finding and picking, target distance determination, power adjustment and shooting through reasonable structural design, and the action requirements of partial ball picking, arm stretching, arm rotation and shooting by hands are sequentially completed under the control of the control system; the intelligent and automatic shooting robot has the advantages of ensuring accurate shooting, being convenient to adjust and the like.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is another schematic view of the overall structure of the present invention;

FIG. 3 is a schematic view of one side of the arm portion of the present invention;

FIG. 4 is a schematic view of the other side of the arm according to the present invention;

fig. 5 is a schematic view of the wheel of the present invention.

The meaning of the main reference symbols in the figures is:

10-throw hand, 11-hand throw ball motor, 12-hand reduction box, 13-bearing, 14-throw hand, 15-hand support seat, 16-throw hand support block, 20-arm, 21-arm adjusting motor, 22-arm telescopic motor, 211-adjusting coupling, 212-helical gear, 213-shaft, 214-key, 215-bevel gear shaft, 216-support seat, 217-arm adjusting bearing, 218-lantern ring, 219-swing arm connecting plate, 221-telescopic coupling, 222-lead screw, 223-arm telescopic bearing, 30-ball picking part, 31-ball picking motor, 32-reduction box, 33-ball picking claw, 34-ball picking support, 35-ball picking support plate, 36-ball picking bearing, 40-wheel, 41-wheel motor, 42-wheel coupler, 43-wheel shaft, 44-wheel key, 45-wheel bearing, 46-wheel frame, 47-omnidirectional wheel, 50-frame, 51-first layer plate, 52-second layer plate, 53-third layer plate, 54-front support rod, 55-rear support rod and 56-right angle connecting block.

Detailed Description

The present invention will be further described with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

As shown in fig. 1, 2 and 3, the present invention includes: the shooting robot comprises an execution mechanism, a driving mechanism and a control system, wherein the control system is used for controlling the driving mechanism and the execution mechanism so as to realize the tasks of picking balls and shooting the balls. The actuator includes: the shooting robot comprises a shooting part 10, an arm part 20, a ball picking part 30, a wheel 40 and a frame 50, wherein the shooting part 10 and the arm part 20 are connected through a shooting support block 16, the arm part 20 is installed on the frame 50, the ball picking part 30 is installed on the frame 50, and the wheel 40 is installed on the frame 50; the actuating mechanism adopts the motor drive mode to drive, includes: the hand ball-throwing machine comprises a hand ball-throwing motor 11, an arm adjusting motor 21, an arm telescopic motor 22, a ball picking motor 31 and a wheel motor 41, wherein the hand ball-throwing motor 11 is installed on a throwing support block 16 of the throwing hand 10, the arm adjusting motor 21 is installed on a three-layer plate 53 of the frame, the arm telescopic motor 22 is installed on a swing arm connecting plate 219 of the arm, the ball picking motor 31 is installed on a ball picking support plate 35 of the ball picking part 30, and the wheel motor 41 is installed on a layer plate 51 of the frame 50; the control system adopts a PLC program to realize the control of the shooting robot.

As shown in fig. 1 and 3, the shooting hand 10 of the shooting robot comprises a hand ball shooting motor 11, a hand reduction box 12, a bearing 13, a shooting hand 14 and a hand support seat 15, the three-layer plate 53 of the frame 50 and the hand ball shooting motor 11 are fixed through bolts, the hand ball shooting motor 11 drives the shooting hand through the reduction of the hand reduction box 12, the shooting hand 14 is connected with the hand support seat 15 through the bearing 13, and when the hand ball shooting motor 11 rotates, the shooting hand rotates along with the rotation of the hand ball shooting hand, and the ball is thrown.

As shown in fig. 1 and 3, the pitcher 14 of the pitcher portion 10 of the present invention adopts a spherical shell, and the spherical shell is low in front of the shaft, so as to ensure that the ball picked up by the ball picking portion 30 is caught by the pitcher 14; the rear spherical shell of the rod is high, so that the throwing hand part 10 can provide enough force when throwing the ball.

As shown in fig. 1 and 3, the hand throwing portion 10 is fixedly connected to the hand throwing support block 16 through a bolt, the hand throwing support block 16 is matched with the screw rod 222 of the arm 20, and the screw rod 222 is driven to rotate under the rotation of the arm telescopic motor 22, so that the position of the whole hand throwing portion 10 is adjusted. The initial position of the throwing hand part 10 is that the throwing hand rod is vertical and is positioned at the last section of the screw rod 222, and the initial position is recovered after each pitching adjustment.

As shown in fig. 1, 3 and 4, the arm 20 of the shooting robot of the present invention includes an arm adjusting motor 21, an adjusting coupling 211, a helical gear 212, a shaft 213, a key 214, a helical gear shaft 215, a supporting base 216, an arm adjusting bearing 217, a collar 218, a swing arm connecting plate 219, an arm telescopic motor 22, a telescopic coupling 221, a lead screw 222, and an arm telescopic bearing 223, when the arm adjusting motor 21 rotates, the adjusting coupling 211 and the shaft 213 are driven to rotate, the helical gear 212 rotates under the transmission action of the key 214 and the supporting action of the supporting base 216 and the arm adjusting bearing 217, so as to drive the helical gear shaft 215 to rotate, and since the helical gear shaft 215 is fixedly connected with the collar 218, the collar 218 is fixed with the swing arm connecting plate 219, and the arm 20 also rotates accordingly. When the arm extension motor 22 rotates, the extension coupling 221 and the lead screw 222 are driven to rotate, so that the pitcher support block 16 slightly displaces, and the purpose of adjusting the effective length of the arm 20 is achieved.

As shown in fig. 1 and 2, the ball picking section 30 of the present invention comprises a ball picking motor 31, a reduction box 32, a ball picking claw 33, a ball picking support 34, a ball picking support plate 35, and a ball picking bearing 36, wherein the initial position of the ball picking claw 33 almost coincides with the ball picking support 34. When picking up the ball, the ball picking claw 33 starts to rotate under the action of the ball picking motor 31 until the rotation forms an obtuse angle with the ball picking support 34, the ball falls into the pitcher 14 along the ball picking claw 33 under the action of gravity, the ball picking action is finished, and the initial position is recovered.

As shown in fig. 1 and 5, the wheel 40 of the basketball shooting robot of the present invention includes a wheel motor 41, a wheel coupler 42, a wheel axle 43, a wheel key 44, a wheel bearing 45, a wheel frame 46, and an omni wheel 47. The wheel motor 41 drives the wheel 40 through the wheel coupling 42, the wheel shaft 43 and the wheel key 44, and is fixed on the frame 50 through the wheel bearing 45 and the wheel frame 46.

As shown in fig. 1 and 5, the omni wheel 47 of the wheel 40 of the present invention is formed by the cooperation of a small wheel and a wheel carrier, the small wheel is drum-shaped, the wheel carrier is formed by cutting off a regular octagon, and the small wheel and the wheel carrier are a complete round shape in the cooperation of the side surfaces, so that the rotation process of the wheel 40 is kept stable.

As shown in fig. 1 and 2, the wheels 40 are three groups, and the three groups of wheels are symmetrical angles and fixed on a layer plate of the frame 50 through bolts, so as to ensure the stability of the shooting robot.

As shown in fig. 1 and 2, the frame 50 of the basketball shooting robot of the present invention includes a first plate 51, a second plate 52, a third plate 53, two front support rods 54, two rear support rods 55, and a right-angle connecting block 56. The front end and the rear end of the first layer plate 51 are respectively connected and fixed with the front support rod 54 and the rear support rod 55, and the first layer plate 51 is mainly used for installing and fixing the wheels 40; the two-layer plate 52 is fixedly installed above the one-layer plate 51 by using the right-angle connecting block 56, and the two-layer plate 52 is used for arranging a circuit board and the like which are responsible for intellectualization of the shooting robot on the upper part; the three-layer plate 53 is fixedly installed above the two-layer plate 52 by using the right-angle connecting block 56, and the main function of the three-layer plate 53 is to fix the arm part 20, the ball picking part 30 and the like.

It is noted that, herein, relational terms such as one and two, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above-mentioned specific embodiments, right the utility model provides a technical problem, technical scheme and beneficial effect carry out further detailed description, should the utility model discloses the technical means that the scheme was disclosed is not only limited to the technical means that the above-mentioned embodiment was disclosed, still includes the technical scheme who constitutes by the arbitrary combination of above-mentioned technical characteristic. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also considered as the protection scope of the present invention.

Claims

1. A shooting robot, characterized in that the shooting robot comprises: the shooting robot comprises an execution mechanism, a driving mechanism and a control system, wherein the control system is used for controlling the driving mechanism and the execution mechanism so as to realize the tasks of picking balls and shooting the balls;

2. A shooting robot as claimed in claim 1, characterized in that: the shooting hand of the shooting robot comprises a hand ball shooting motor, a hand reduction gearbox, a bearing, a shooting hand and a hand supporting seat, wherein the hand ball shooting motor is connected with the shooting hand through the reduction gearbox, and the hand supporting seat supports the shooting hand through the bearing.

3. A shooting robot as claimed in claim 2, characterized in that: the throwing hand of the throwing hand part adopts a spherical shell, the spherical shell is low in the front of the rod, and the spherical shell is high in the back of the rod.

4. A shooting robot as claimed in claim 3, characterized in that: the arm part of the shooting robot comprises an arm part adjusting motor, an adjusting coupler, a helical gear, a shaft, a key, a helical gear shaft, a supporting seat, an arm part adjusting bearing, a sleeve ring, a swing arm connecting plate, an arm part telescopic motor, a telescopic coupler, a lead screw and an arm part telescopic bearing, wherein the arm part adjusting motor is connected with the helical gear through the adjusting coupler, the shaft and the key, and the helical gear drives the helical gear shaft, the sleeve ring and the swing arm connecting plate to realize the effect of adjusting the arm part; the arm telescopic motor is installed on the swing arm connecting plate, and drives a lead screw through a telescopic coupler, so that the telescopic arm is realized.

5. A shooting robot as claimed in claim 4, characterized in that: the arm part is connected with the pitcher part through the pitcher support block by using screw transmission.

6. A shooting robot as claimed in claim 5, characterized in that: the ball picking part comprises a ball picking claw, a ball picking support plate, a ball picking bearing, a reduction box and a ball picking motor, wherein the ball picking claw is connected with the ball picking support through the ball picking bearing and is driven by the ball picking motor after being decelerated through the reduction box.

7. A shooting robot as claimed in claim 6, characterized in that: the wheels of the shooting robot comprise wheel motors, wheel couplings, wheel shafts, wheel keys, wheel bearings, wheel frames and omnidirectional wheels; the wheel motor drives the wheel through the wheel coupler, the wheel shaft and the wheel key, and is fixed on the rack through the wheel bearing and the wheel frame.

8. A shooting robot as claimed in claim 7, characterized in that: the omnidirectional wheel of the wheel is formed by matching a small wheel and a wheel frame, the small wheel is drum-shaped, the wheel frame is formed by cutting off a regular octagon, and the small wheel and the wheel frame are a complete round sample in the matching of the side surfaces, so that the rotating process of the wheel is kept stable.

9. A shooting robot as claimed in claim 8, characterized in that: the three sets of wheels are symmetrically fixed on a layer plate of the rack through bolts so as to ensure the overall stability of the shooting robot.

10. A shooting robot as claimed in claim 9, characterized in that: the frame of the shooting robot comprises a first layer plate, a second layer plate, a third layer plate, two front support rods, two rear support rods and a right-angle connecting block; the front end and the rear end of the first layer plate are respectively connected and fixed with the two front support rods and the two rear support rods; the two-layer plate is fixedly arranged above the one-layer plate by utilizing the right-angle connecting block; and the three-layer plate is fixedly arranged above the two-layer plate by utilizing the right-angle connecting block.