CN212548219U

CN212548219U - Automatic service robot for physical training

Info

Publication number: CN212548219U
Application number: CN202021215811.0U
Authority: CN
Inventors: 陶逢春; 周景亮; 王愉灵; 陈益献; 林志熙; 周易
Original assignee: Fujian University of Technology
Current assignee: Fujian University of Technology
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2021-02-19
Anticipated expiration: 2030-06-28

Abstract

The utility model relates to an automatic robot of serving of sports training assistance, including the chassis that has the wheel, articulated on the chassis install the frame that the slope set up and can the luffing motion, be provided with launching mechanism in the frame and press from both sides the ball clamp and get the mechanism of placing on launching mechanism after getting. The utility model discloses automatic service robot of sports training is reasonable in design, possesses and gets ball and service function, and the flexibility is good, convenient to use, and the practicality is strong, and training effect is good, can effectively alleviate training partner's working strength, improves the training level.

Description

Automatic service robot for physical training

Technical Field

The utility model relates to an automatic service robot of sports training assistance.

Background

With the rapid development of the technical fields of computers, automation, artificial intelligence and the like, the research related to the robot technology has become the focus of attention in the industry. In the aspect of human motion assistance, the introduction of the robot technology further tends to humanization, individuation and convenience. At present, the sports auxiliary training robot is widely applied to various fields of competitive sports and national quality education. The technical level of various robots in China is improved in an effort, particularly, intelligent robot mechanisms suitable for various sports training purposes are designed, the control level of the intelligent robot mechanisms is improved, the application and popularization advantages of the intelligent robot mechanisms are played and popularized, and the high-efficiency development and the steady promotion of the national health level and the competitive sports career are further promoted.

At present, the ball receiving and sending training of big balls such as basketball and volleyball is realized by an accompanying person, so that the accompanying person has high working strength and low efficiency, the accompanying person does not have the capacity of supplying balls for a long time, and when the accompanying person is lost, the training person cannot obtain the training effect of the ball, and the improvement of the skill is directly influenced.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a convenient to use, the practicality is strong, trains effectual automatic service robot of sports training assistance.

The utility model discloses a following scheme realizes: the utility model provides an automatic robot of serving of sports training aids, includes the chassis that has the wheel, the articulated frame of installing the slope setting and ability luffing motion on the chassis, be provided with launching mechanism in the frame and press from both sides the ball clamp and place the mechanism of getting on launching mechanism after getting.

Furthermore, the launching mechanism comprises a V-shaped launching track formed by two rows of rollers, a launching cylinder with a driving end facing the launching track is arranged behind the launching track, and a launching push plate is arranged at the driving end of the launching cylinder.

Furthermore, the clamping mechanism comprises a swing frame which is hinged to the rack and can swing back and forth, a rotating frame which can rotate relative to the swing frame is installed at the free end of the swing frame, a fixed clamping jaw is arranged on one side of the front end of the rotating frame, and a movable clamping jaw is arranged on the other side of the front end of the rotating frame.

Furthermore, a sliding block capable of sliding back and forth relative to the rotating frame is arranged on the rotating frame, the front portion of the movable clamping jaw is of an arc-shaped structure bent towards the middle, the rear portion of the movable clamping jaw is hinged to the rotating frame, a linkage rod is connected between the rear end of the movable clamping jaw and the sliding block, and two ends of the linkage rod are hinged to the movable clamping jaw and the sliding block respectively.

Further, an air cylinder is installed on the sliding block, a fixing block located in front of the sliding block is fixedly installed on the rotating frame, and the driving end of the air cylinder is fixedly connected to the fixing block.

Furthermore, a first motor for driving the swing frame to swing is installed on the rack, a first gear is installed on a main shaft of the first motor, and a second gear meshed with the first gear is installed on a hinged shaft at the lower end of the swing frame; a pivot is installed to the swing span free end, the swing span can be dismantled and connect in the pivot, installs on the swing span to be used for driving pivot pivoted second motor, installs the third gear on the second motor main shaft, install in the pivot with third gear engagement's fourth gear.

Furthermore, an angle adjusting mechanism used for driving the rack to swing is arranged on the chassis and comprises a sliding plate capable of sliding back and forth relative to the chassis, a pitching rod is connected between the sliding plate and the rack, the upper end of the pitching rod is hinged to the upper end and the lower end of the rack and hinged to the sliding plate, and the sliding plate is driven by a third motor through a screw-nut pair to slide back and forth.

Furthermore, the wheels are four and adopt mecanum wheels, the wheel axle of each wheel is connected with the driving motor positioned on the inner side of the wheel axle through a coupler, a motor fixing plate for mounting the motor is arranged on the chassis, one side of the motor fixing plate is hinged on the chassis, and the other side of the motor fixing plate is connected with the chassis through a shock absorber.

Compared with the prior art, the utility model discloses following beneficial effect has: the utility model discloses automatic service robot of sports training is reasonable in design, possesses and gets ball and service function, and the flexibility is good, convenient to use, and the practicality is strong, and training effect is good, can effectively alleviate training partner's working strength, improves the training level.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to specific embodiments and related drawings.

Drawings

FIG. 1 is a perspective view of an embodiment of the present invention;

FIG. 2 is a perspective view of the launching mechanism in an embodiment of the present invention;

fig. 3 is a perspective view of the gripping mechanism according to the embodiment of the present invention;

FIG. 4 is a partial view of FIG. 3;

fig. 5 is a schematic view of an angle adjusting mechanism in an embodiment of the present invention;

fig. 6 is a schematic view of the installation of the driving motor in the embodiment of the present invention;

the reference numbers in the figures illustrate: 100-chassis, 110-wheel, 120-sliding plate, 130-pitching rod, 140-third motor, 150-driving motor, 160-motor fixing plate, 170-shock absorber, 200-frame, 210-hinge seat, 220-first motor, 300-launching mechanism, 310-roller, 320-launching cylinder, 330-launching push plate, 400-clamping mechanism, 410-swing frame, 411-rotating shaft, 412-second motor, 420-rotating frame, 421-fixing clamping jaw, 422-movable clamping jaw, 423-sliding block, 424-linkage rod, 425-cylinder, 426-fixing block and 427-fixing seat.

Detailed Description

As shown in fig. 1 to 6, an automatic serve robot for physical training assistance comprises a chassis 100 with wheels 110, wherein a rack 200 which is obliquely arranged and can swing up and down is hinged on the chassis 100, and a launching mechanism 300 and a clamping mechanism 400 which is used for clamping a ball and placing the ball on the launching mechanism are arranged on the rack 200; the utility model discloses automatic service robot of sports training possesses and gets ball and service function, and the main use is like the receiving and dispatching ball training of big balls such as basketball, volleyball, convenient to use, and the practicality is strong, and training effect is good, can effectively alleviate training mate's working strength, improvement training level.

In this embodiment, the launching mechanism 300 includes a V-shaped launching track formed by two rows of rollers 310, a launching cylinder 320 with a driving end facing the launching track is installed behind the launching track, and a launching push plate 330 is installed at the driving end of the launching cylinder; in order to reduce friction, two rows of rollers are adopted as a launching track, the working pressure of a launching cylinder can be adjusted within a certain range according to the factors such as the quality, the distance and the like of a thrown ball, the ball is shot out by utilizing impact, and the adjusting mode is to replace cylinders with different specifications or use a pressure regulating valve; the launching mechanism has simple structure and low cost.

In this embodiment, the gripping mechanism 400 includes a swing frame 410 which is hinged to the frame 200 and can swing back and forth, a rotating frame 420 which can rotate relative to the swing frame is installed at the free end of the swing frame 410, a fixed clamping jaw 421 is installed on one side of the front end of the rotating frame 420, and a movable clamping jaw 422 is installed on the other side of the front end of the rotating frame 420; the ball placing frame used for placing the balls is arranged at the rear part of the robot, the swing frame swings the movable clamping jaws backwards to clamp the balls, then the swing frame swings forwards again, and the movable clamping jaws are loosened to place the balls on the launching track.

In this embodiment, the rotating frame 420 is provided with a sliding block 423 capable of sliding back and forth relative to the rotating frame, the front part of the movable clamping jaw is of an arc structure bending towards the middle, the rear part of the movable clamping jaw is hinged to the rotating frame, a linkage rod 424 is connected between the rear end of the movable clamping jaw and the sliding block, and two ends of the linkage rod 424 are respectively hinged to the movable clamping jaw and the sliding block; the clamping motion of activity clamping jaw is realized through the gangbar by the cylinder, can convert the linear motion of cylinder into the swing of activity clamping jaw, utilizes relay control cylinder, realizes grabbing of ball and holds, and the stability when not only being convenient for control has also guaranteed to snatch the ball process simultaneously.

In this embodiment, an air cylinder 425 is installed on the sliding block 423, a fixed block 426 located in front of the sliding block is fixedly installed on the rotating frame, and a driving end of the air cylinder is fixedly connected to the fixed block.

In this embodiment, a first motor 220 for driving the swing frame 410 to swing is installed on the rack 200, a first gear is installed on a main shaft of the first motor 220, and a second gear engaged with the first gear is installed on a hinge shaft at the lower end of the swing frame; a pivot 411 is installed to the swing span 410 free end, rotating turret 420 can be dismantled and connect in the pivot, installs on the swing span 410 to be used for driving pivot pivoted second motor 412, installs the third gear on the second motor main shaft, install in the pivot with third gear engagement's fourth gear, through the whole swing span fore-and-aft movement of first motor drive, through the rotation of second motor drive rotating turret.

In this embodiment, a fixing seat 427 is fixedly connected to the rotating frame through a bolt, a fixing groove is formed in the fixing seat, the rotating shaft passes through the fixing seat, a locking screw for locking the rotating shaft in the fixing groove is connected to the fixing seat, tangential surfaces are formed on two sides of a shaft section of the rotating shaft located in the fixing groove, and the width of the fixing groove is matched with the width between the tangential surfaces on two sides of the rotating shaft.

In this embodiment, an angle adjustment mechanism for driving the frame 200 to swing is disposed on the chassis 100, the angle adjustment mechanism includes a sliding plate 120 capable of sliding back and forth relative to the chassis, a pitch rod 130 is connected between the sliding plate 110 and the frame, an upper end of the pitch rod 130 is hinged to the frame, and a lower end of the pitch rod 130 is hinged to the sliding plate, the sliding plate 120 is driven by a third motor 140 through a screw-nut pair to slide back and forth; the third motor drives the sliding plate to move back and forth, so that the angle between the pitching rod and the chassis is changed, the purpose of adjusting the angle of the rack is achieved, the launching angle can be adjusted conveniently, and the flexibility is good.

In this embodiment, the frame and the sliding plate are respectively connected with a hinge seat for hinging the pitching rod through bolts, and the frame is provided with a plurality of groups of mounting hole sites which are arranged at intervals along the length direction and are used for mounting the hinge seats; different hole sites can be selected for the hinged seat on the rack to be installed, so that the adjustable angle range of the rack is wider, and the optimal launching angle can be found after debugging.

In this embodiment, the wheels 110 are four and include mecanum wheels, the wheel axle of each wheel 100 is connected to the driving motor 150 located inside the wheel axle through a coupling, the chassis is provided with a motor fixing plate 160 for mounting the motor, one side of the motor fixing plate is hinged to the chassis, and the other side of the motor fixing plate is connected to the chassis through a shock absorber 170; the chassis of the robot adopts four Mecanum wheels, is suitable for the environment and the place with different friction coefficients, can realize the omnidirectional removal through the control to the positive and negative rotation and the rotational speed of motor, and translation rate is fast, and mobility is strong, and stability is good than the tricycle chassis, and every wheel all is furnished with two shock absorbers, has reached well and has inhaled the effect of shake absorbing shock attenuation, reduces and rocks, operates steadily.

The working process of the sports auxiliary training automatic serve robot is as follows: (1) the swing frame of the clamping mechanism swings backwards, the telescopic rod of the air cylinder extends to enable the sliding block to slide backwards, and the fixed clamping jaw and the movable clamping jaw are matched to clamp a ball at a designated position; (2) the swing frame of the clamping mechanism swings backwards, and the movable clamping jaw is loosened to enable the ball to fall on the launching mechanism; (3) the launching mechanism utilizes the telescopic rod of the launching cylinder to rapidly extend out to push the ball out, and one-time ball launching action is completed.

Any technical solution disclosed in the present invention is, unless otherwise stated, disclosed a numerical range if it is disclosed, and the disclosed numerical range is a preferred numerical range, and any person skilled in the art should understand that: the preferred ranges are merely those values which are obvious or representative of the technical effect which can be achieved. Because numerical value is more, can't be exhaustive, so the utility model discloses just disclose some numerical values with the illustration the technical scheme of the utility model to, the numerical value that the aforesaid was enumerated should not constitute right the utility model discloses create the restriction of protection scope.

The utility model discloses if disclose or related to mutual fixed connection's spare part or structure, then, except that other the note, fixed connection can understand: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connections (e.g. riveting, welding), but of course, fixed connections to each other may also be replaced by one-piece structures (e.g. manufactured integrally using a casting process) (unless it is obviously impossible to use an integral forming process).

In addition, the terms used in any aspect of the present disclosure as described above to indicate positional relationships or shapes include similar, analogous, or approximate states or shapes unless otherwise stated.

The utility model provides an arbitrary part both can be assembled by a plurality of solitary component parts and form, also can be the solitary part that the integrated into one piece technology was made.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same; although the present invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that: the invention can be modified or equivalent substituted for some technical features; without departing from the spirit of the present invention, it should be understood that the scope of the claims is intended to cover all such modifications and variations.

Claims

1. The utility model provides an automatic robot of serve of sports training assistance which characterized in that: the ball picking device comprises a chassis with wheels, wherein a rack which is obliquely arranged and can swing up and down is hinged to the chassis, and a launching mechanism and a clamping mechanism which clamps a ball and then places the ball on the launching mechanism are arranged on the rack.

2. The sports-assisted training automatic serve robot of claim 1, wherein: the launching mechanism comprises a V-shaped launching track formed by two rows of rollers, a launching cylinder with a driving end facing the launching track is arranged behind the launching track, and a launching push plate is arranged at the driving end of the launching cylinder.

3. The sports-assisted training automatic serve robot of claim 1 or 2, wherein: the clamping mechanism comprises a swing frame which is hinged to the rack and can swing back and forth, a rotating frame which can rotate relative to the swing frame is installed at the free end of the swing frame, a fixed clamping jaw is arranged on one side of the front end of the rotating frame, and a movable clamping jaw is arranged on the other side of the front end of the rotating frame.

4. The sports-assisted training automatic serve robot of claim 3, wherein: the rotary frame is provided with a sliding block capable of sliding back and forth relative to the rotary frame, the front part of the movable clamping jaw is of an arc-shaped structure bent towards the middle, the rear part of the movable clamping jaw is hinged to the rotary frame, a linkage rod is connected between the rear end of the movable clamping jaw and the sliding block, and two ends of the linkage rod are respectively hinged to the movable clamping jaw and the sliding block.

5. The sports-assisted training automatic serve robot of claim 4, wherein: the slider is provided with an air cylinder, the rotating frame is fixedly provided with a fixed block positioned in front of the slider, and the driving end of the air cylinder is fixedly connected to the fixed block.

6. The sports-assisted training automatic serve robot of claim 3, wherein: a first motor used for driving the swing frame to swing is installed on the rack, a first gear is installed on a main shaft of the first motor, and a second gear meshed with the first gear is installed on a hinged shaft at the lower end of the swing frame; a pivot is installed to the swing span free end, the swing span can be dismantled and connect in the pivot, installs on the swing span to be used for driving pivot pivoted second motor, installs the third gear on the second motor main shaft, install in the pivot with third gear engagement's fourth gear.

7. The sports-assisted training automatic serve robot of claim 1, wherein: the chassis is provided with an angle adjusting mechanism for driving the rack to swing, the angle adjusting mechanism comprises a sliding plate capable of sliding back and forth relative to the chassis, a pitching rod is connected between the sliding plate and the rack, the upper end of the pitching rod is hinged to the upper end of the rack, the lower end of the pitching rod is hinged to the sliding plate, and the sliding plate is driven by a third motor through a screw rod nut pair to slide back and forth.

8. The sports-assisted training automatic serve robot of claim 1, wherein: the vehicle is characterized in that the number of the wheels is four, Mecanum wheels are adopted, a wheel shaft of each wheel is connected with a driving motor positioned on the inner side of the wheel shaft through a coupler, a motor fixing plate used for installing the motor is arranged on the chassis, one side of the motor fixing plate is hinged to the chassis, and the other side of the motor fixing plate is connected with the chassis through a shock absorber.