CN211541229U - Tennis robot based on mechanical arm - Google Patents
Tennis robot based on mechanical arm Download PDFInfo
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- CN211541229U CN211541229U CN201921144356.7U CN201921144356U CN211541229U CN 211541229 U CN211541229 U CN 211541229U CN 201921144356 U CN201921144356 U CN 201921144356U CN 211541229 U CN211541229 U CN 211541229U
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Abstract
The utility model provides a tennis robot based on a mechanical arm, which comprises a rotary main body, a first section rod, a second section rod, a third section rod and a fourth section rod which are arranged in sequence; taking a plane vertical to a rotating shaft of the rotating body as a reference plane: the rotating shaft of the first section of rod is parallel to the reference plane; the second section of rod is a mechanism capable of rotating in two directions and comprises a connecting seat and a rod body, a rotating shaft of the connecting seat is parallel to a reference plane, the rod body is arranged on the connecting seat, and the rotating shaft of the rod body is vertical to the rotating shaft of the connecting seat; the rotating shaft of the third section of rod is vertical to the rotating shaft of the second section of rod body; the rotating shaft of the fourth section of rod is perpendicular to the rotating shaft of the third section of rod, and the tennis racket is arranged on the fourth section of rod. The utility model discloses an utilize arm simulation sportsman to hit the ball with a tennis racket, and the mechanism is dexterous, the action is nimble, low to the requirement of power, easy control.
Description
Technical Field
The utility model relates to a robotechnology especially relates to a tennis robot.
Background art:
for tennis playing robots adopting mechanical arms, reports are not found at present.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a tennis robot based on arm. The utility model discloses the technical scheme who adopts is like:
a tennis robot based on a mechanical arm is characterized by comprising a rotary main body, a first section of rod, a second section of rod, a third section of rod and a fourth section of rod which are sequentially arranged;
taking a plane vertical to a rotating shaft of the rotating body as a reference plane:
the rotating shaft of the first section of rod is parallel to the reference plane;
the second section of rod is a mechanism capable of rotating in two directions and comprises a connecting seat and a rod body, a rotating shaft of the connecting seat is parallel to a reference plane, the rod body is arranged on the connecting seat, and the rotating shaft of the rod body is vertical to the rotating shaft of the connecting seat;
the rotating shaft of the third section of rod is vertical to the rotating shaft of the second section of rod body;
the rotating shaft of the fourth section of rod is perpendicular to the rotating shaft of the third section of rod, and the tennis racket is arranged on the fourth section of rod.
Further, the lengths of the first section of rod, the second section of rod and the third section of rod are sequentially decreased progressively.
Further, the driving motor of second section pole connecting seat passes through the pivot of the connecting seat in connecting rod system and the second section pole and connects, the connecting rod system adopts first section pole, fifth pole, sixth pole and seventh pole are constituteed, first section pole, fifth pole, sixth pole and seventh pole constitute the deformable parallelogram of apex department for rotating the connection, and sixth pole and first section pole are parallel, and fifth pole and seventh pole are parallel, the pivot and the seventh pole fixed connection of connecting seat, with first section pole be swing joint.
Furthermore, a wheel type traveling device is arranged on the fixing seat of the rotating main body, the wheel type traveling device is provided with a plurality of wheels, and each wheel is driven by an independent motor through a speed reducing mechanism and is provided with a steering mechanism.
Furthermore, a connecting frame is arranged at the top of the rotating main body, the motor of the first section of rod is mounted on the connecting frame of the rotating main body, and the neck of the connecting frame connected with the rotating main body is connected with a fixed seat of the rotating main body through an angular contact bearing; the output shaft of the motor of the first section of rod is connected with the connecting frame through an angular contact bearing; the driving motor of the second section of rod connecting seat is also arranged on the connecting frame, and the output shaft of the driving motor is connected with the connecting frame through an angular contact bearing; the second section of rod body is connected to the connecting seat of the second section of rod body through a deep groove ball bearing; the rotating shaft of the third section of rod is connected with the connecting frame on the second section of rod through a deep groove ball bearing; and a rotating shaft of the fourth section of rod is connected with a connecting frame on the third section of rod through a deep groove ball bearing.
Furthermore, the device is provided with an in-vitro vision system and a control system; the vision system obtains the motion position data of the tennis ball, then predicts the route of the tennis ball, and the control system controls the tennis ball robot to reach the position near the predicted route according to the tennis ball route predicted by the vision system, and controls the mechanical arm to hit the tennis ball.
Further, when the tennis robot enters a ball hitting mode, a tennis track is predicted by a vision system, and a ball hitting point is calculated; before hitting a ball, the rotating body is driven by a driving motor of the rotating body to rotate backward from an initial angle, and enters a ready state.
Further, the mechanical arm moves back to the initial position each time a ball is hit or initially enters a play mode.
Further, when the initial position is reached, the rotating body rotates to the initial angle, the mechanical arm crank arm lifts the racket, and the front face of the racket faces forward.
Owing to adopt the technical scheme of the utility model, the utility model discloses an utilize arm simulation sportsman to hit the ball with a tennis racket, and the mechanism is dexterous, the action is agile, and is low to the requirement of power, easy control.
Drawings
Fig. 1 is a schematic view of an embodiment of the tennis robot of the present invention.
Fig. 2 is a schematic view of the tennis robot with the mechanical arm in the initial position.
Fig. 3 is a schematic view of the tennis robot according to the present invention when the arm is opened to a certain angle, so as to observe the structure.
Fig. 4 is a sectional view of the main body of the tennis robot of the present invention.
Detailed Description
Reference is made to the accompanying drawings. The utility model provides a pair of tennis robot based on arm includes the arm is including rotatory main part 100, first section pole 1, second section pole, third section pole 3 and the fourth section pole 4 that sets gradually.
Taking a plane perpendicular to the rotation axis 106 of the rotating body 100 as a reference plane, the reference plane can be generally regarded as a horizontal plane:
the top of the rotating body 100 is provided with a connecting frame 107, and the motor of the first rod segment 1 is mounted on the connecting frame 107 of the rotating body. The rotating shaft of the first section rod 1 is parallel to the reference plane, the first section rod can adopt a double-rod structure which is parallel along the axial direction, one of the first section rod is connected with the driving motor 11 of the first section rod, and the other rod is passively rotated, so that the mechanical property is improved, and space and a connecting position are provided for the arrangement of the subsequent rod pieces.
The second section of rod is a mechanism capable of rotating in two directions, and comprises a connecting seat 21 and a rod body 22, wherein the rod body 22 can rotate along with the connecting seat 21 by taking a rotating shaft 210 of the connecting seat 21 as a shaft, and can also rotate by taking a rotating shaft of the rod body 22 as a shaft. The rotation axis 210 of the connecting base 21 is parallel to the reference plane and certainly parallel to the rotation axis of the first section rod, the rod 22 is rotatably mounted on the connecting base 21, the rotation axis of the rod 22 is perpendicular to the rotation axis 210 of the connecting base, and in order to improve the capability of resisting the ball striking reaction force, the rotation axis 210 and the rotation axis of the rod 22 are preferably on the same plane.
In order to improve the agility of the mechanical arm responding to the instruction, the driving motor 24 of the second section rod connecting seat 21 is connected with the rotating shaft 210 of the connecting seat 21 in the second section rod through a connecting rod system, the connecting rod system is composed of the first section rod 1, the fifth rod 5, the sixth rod 6 and the seventh rod 7, the first section rod 1, the fifth rod 5, the sixth rod 6 and the seventh rod 7 form a deformable parallelogram with the vertex points being in rotary connection, the sixth rod 6 is parallel to the first section rod 1, the fifth rod 5 is parallel to the seventh rod 7, the rotating shaft 210 and the seventh rod 7 of the connecting seat are fixedly connected and movably connected with the first section rod 10, one of the two rods of the first section rod is fixedly connected with the rotating shaft of the first section rod 1, the driving motor 11 drives the rotating shaft of the first section rod 1 to rotate to drive the rod in the two rods to rotate, the other rod of the two rods is movably sleeved on the rotating shaft of the fifth rod 5, the rotating shaft of the fifth rod 5 and the rotating shaft of the first section rod 1 are on the same straight line, and the driving motor 24 drives the fifth rod 5 to rotate by driving the rotating shaft of the fifth rod 5, so as to drive the rotating shaft 210 to rotate by the connecting rod system. Thus, the driving motor 24 has almost no moment arm with respect to the rotating body 100, and accordingly, the action of the robot arm at the time of hitting the ball is not affected, so that the action agility is improved, and the requirements for the motors are reduced. The driving motor 25 of the rod 22 is mounted on the connecting base 21, so that the mounting rod 22 rotates along an axis perpendicular to the rotating shaft 210 of the connecting base.
The rotating shaft 30 of the third section of the rod 3 is perpendicular to the rotating shaft of the second section of the rod body 22, a connecting frame 31 can be installed at the tail end of the rod body 22, a driving motor 32 of the third section of the rod 3 is installed on the connecting frame 31, the rotating shaft 30 is driven to rotate by the driving motor 32, and then the third section of the rod 3 is driven to rotate, optimally, in order to improve the capability of resisting the batting reaction force, the rotating shaft of the second section of the rod body 22 and the axis of the rotating shaft 30 are preferably on the same plane.
The rotating shaft of the fourth rod 4 is perpendicular to the rotating shaft 30 of the third rod 3, and the tennis racket 200 is disposed on the fourth rod 4. The connecting frame 41 can be installed at the end of the third section of rod 3, the driving motor 42 of the fourth section of rod 4 is installed on the connecting frame 41, the driving motor 42 drives the rotating shaft of the fourth section of rod 4 to rotate, and then drives the fourth section of rod 4 to rotate, optimally, in order to improve the capability of resisting the batting reaction force, the rotating shaft of the fourth section of rod 4 and the axis of the rotating shaft 30 are preferably on the same plane.
Similarly, in order to improve the agility of the movement and the capability of resisting the reaction force of the hitting ball, the lengths of the first rod 1, the second rod 2 and the third rod 3 are preferably decreased in sequence.
The rotating body 100 is connected between the neck part of the connecting frame 107 and the fixed seat 101 through an angular contact bearing 201; the output shaft of the driving motor 11 is connected with the connecting frame through an angular contact bearing 202; the driving motor 24 of the second section of rod connecting seat 21 is also arranged on the connecting frame 107, and the output shaft of the driving motor is connected with the connecting frame 107 through an angular contact bearing 203; the rod body 22 is connected to the connecting seat 21 through a deep groove ball bearing 204; the rotating shaft of the third section of rod 3 is connected with the connecting frame 31 on the second section of rod through a deep groove ball bearing 205; the rotating shaft of the fourth-section rod 4 is connected with the connecting frame 41 on the third-section rod through a deep groove ball bearing 205. Through the combination of the bearings, the light mechanical arm can move freely, the stability in a high-speed state is improved, the requirement of the terminal speed for being 20m/s can be met, meanwhile, the bearing can be matched with the tennis hitting characteristic, the radial and axial stress of the output shaft of the speed reducer and the motor is reduced, and the impact force applied when the tennis is hit is reduced.
The fixed seat 101 of the rotating body 100 is provided with a wheel type walking device. The wheel type walking device is provided with 3 or 4 wheels 103, the wheels 103 are driven by independent motors 104 through speed reducing mechanisms, the wheels 103 are provided with steering devices, each wheel can be provided with a special steering device, each steering device comprises a driving motor 105 and a gear transmission mechanism 106, the wheels connected with gear shafts are driven by the driving gears of the motors 105 to steer, high-speed reciprocating sprint movement in a tennis court can be achieved, the direction control performance of output torque is improved, the characteristics of tennis ball movement are fully adapted, the position of the Y axis of the main body 100 is constant in the movement process, and operation and control of tennis ball hitting control are facilitated.
The utility model discloses a tennis robot based on arm is provided with separation visual system and control system. The visual system and the control system can be arranged at a position except the tennis robot, and the control system sends instructions to the tennis robot to execute the instructions and do corresponding actions. The control system is arranged outside the tennis robot body, so that the control system can improve configuration and reduce load of the tennis robot, and control effect and movement flexibility are improved. Alternatively, the vision system and the control system may also be provided in the tennis robot.
The vision system is responsible for obtaining the motion position data of the tennis ball, then the route of the tennis ball is predicted, and the control system controls the tennis ball robot to reach the position near the predicted route according to the tennis ball route predicted by the vision system and controls the mechanical arm to hit the tennis ball. The camera of the vision system can be arranged at a certain position or a plurality of positions of the court, which can optimally observe tennis tracks, player actions and eye catch. When the tennis robot enters a tennis playing mode, a tennis track is predicted by a vision system, and a ball hitting point is calculated;
before hitting a ball, the rotary body is rotated backward from an initial angle by the driving motor 102 of the rotary body 100, and enters a ready state.
After each batting or when the batting mode is started, the mechanical arm moves back to the initial position, so that the calculation of the action track is simplified, and the batting strength is increased. In the initial position, the rotating body 100 rotates to the initial angle, the arm is bent to lift the racket, and the front surface of the racket faces forward, as shown in fig. 1.
In the present invention the axis generally refers to the central line of a solid axis or shaft.
The above description is only for the specific embodiments of the present invention, but the protection of the present invention is not limited thereto, and any person skilled in the art can think of equivalent changes or substitutions of the technical features of the present invention, all covered in the protection scope of the present invention.
Claims (9)
1. A tennis robot based on a mechanical arm is characterized by comprising a rotary main body, a first section of rod, a second section of rod, a third section of rod and a fourth section of rod which are sequentially arranged;
taking a plane vertical to a rotating shaft of the rotating body as a reference plane:
the rotating shaft of the first section of rod is parallel to the reference plane;
the second section of rod is a mechanism capable of rotating in two directions and comprises a connecting seat and a rod body, a rotating shaft of the connecting seat is parallel to a reference plane, the rod body is arranged on the connecting seat, and the rotating shaft of the rod body is vertical to the rotating shaft of the connecting seat;
the rotating shaft of the third section of rod is vertical to the rotating shaft of the second section of rod body;
the rotating shaft of the fourth section of rod is perpendicular to the rotating shaft of the third section of rod, and the tennis racket is arranged on the fourth section of rod.
2. The robot of claim 1, wherein the first, second and third rods are progressively shorter.
3. The robot for tennis based on mechanical arm as claimed in claim 1, wherein the driving motor of the connecting seat of the second section of rod is connected with the rotating shaft of the connecting seat in the second section of rod through a link system, the link system is composed of the first section of rod, the fifth rod, the sixth rod and the seventh rod, the first section of rod, the fifth rod, the sixth rod and the seventh rod form a deformable parallelogram with a vertex being in rotational connection, the sixth rod is parallel to the first section of rod, the fifth rod is parallel to the seventh rod, and the rotating shaft of the connecting seat and the seventh rod are fixedly connected and movably connected with the first section of rod.
4. A robot-based tennis robot as recited in claim 1, wherein said rotating body mounting means comprises a wheeled carriage, said wheeled carriage comprising a plurality of wheels, each wheel being driven by its own independent motor through a reduction mechanism and being equipped with a steering mechanism.
5. The robot for tennis based on robot arm of claim 1, wherein the top of the rotating body is provided with a connecting frame, the motor of the first rod is mounted on the connecting frame of the rotating body, and the neck of the rotating body connected with the connecting frame is connected with the fixed seat of the rotating body through an angular contact bearing; the output shaft of the motor of the first section of rod is connected with the connecting frame through an angular contact bearing; the driving motor of the second section of rod connecting seat is also arranged on the connecting frame, and the output shaft of the driving motor is connected with the connecting frame through an angular contact bearing; the second section of rod body is connected to the connecting seat of the second section of rod body through a deep groove ball bearing; the rotating shaft of the third section of rod is connected with the connecting frame on the second section of rod through a deep groove ball bearing; and a rotating shaft of the fourth section of rod is connected with a connecting frame on the third section of rod through a deep groove ball bearing.
6. A robot-based tennis robot as described in claim 1, wherein said robot is configured with an ex vivo vision system and a control system;
the vision system obtains the motion position data of the tennis ball, then predicts the route of the tennis ball, and the control system controls the tennis ball robot to reach the position near the predicted route according to the tennis ball route predicted by the vision system, and controls the mechanical arm to hit the tennis ball.
7. The robot of claim 1, wherein said tennis robot is configured to calculate a hitting point by predicting a tennis ball trajectory using a vision system when entering a ball hitting mode;
before hitting a ball, the rotating body is driven by a driving motor of the rotating body to rotate backward from an initial angle, and enters a ready state.
8. A robot-based tennis robot according to claim 1, wherein said robot arm is moved back to its initial position after each shot or when it initially enters a play mode.
9. The robot of claim 8, wherein in the initial position, the rotating body rotates to an initial angle, the arm is bent to lift the racket, and the front surface of the racket faces forward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921144356.7U CN211541229U (en) | 2019-07-19 | 2019-07-19 | Tennis robot based on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921144356.7U CN211541229U (en) | 2019-07-19 | 2019-07-19 | Tennis robot based on mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN211541229U true CN211541229U (en) | 2020-09-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921144356.7U Active CN211541229U (en) | 2019-07-19 | 2019-07-19 | Tennis robot based on mechanical arm |
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| Country | Link |
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| CN (1) | CN211541229U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800559A (en) * | 2022-04-24 | 2022-07-29 | 浙江深酷机器人有限公司 | Intelligent table tennis robot |
-
2019
- 2019-07-19 CN CN201921144356.7U patent/CN211541229U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800559A (en) * | 2022-04-24 | 2022-07-29 | 浙江深酷机器人有限公司 | Intelligent table tennis robot |
| CN114800559B (en) * | 2022-04-24 | 2024-03-12 | 浙江深酷机器人有限公司 | Intelligent table tennis robot |
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