WO2021046947A1 - 电磁释放弹跳机器人及羽毛球机器人和电磁释放弹跳机构 - Google Patents

电磁释放弹跳机器人及羽毛球机器人和电磁释放弹跳机构 Download PDF

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Publication number
WO2021046947A1
WO2021046947A1 PCT/CN2019/109508 CN2019109508W WO2021046947A1 WO 2021046947 A1 WO2021046947 A1 WO 2021046947A1 CN 2019109508 W CN2019109508 W CN 2019109508W WO 2021046947 A1 WO2021046947 A1 WO 2021046947A1
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Prior art keywords
bouncing
base
wrist
bounce
boom
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PCT/CN2019/109508
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English (en)
French (fr)
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宦红伦
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浙江万里学院
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Publication of WO2021046947A1 publication Critical patent/WO2021046947A1/zh
Priority to ZA2021/07126A priority Critical patent/ZA202107126B/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

Definitions

  • the invention relates to a bouncing robot, in particular to an electromagnetic releasing bouncing robot, a badminton robot and an electromagnetic releasing bouncing mechanism.
  • the Chinese patent application with publication number CN 102050165A discloses a vertical bouncing mechanism for a robot based on a motor drive.
  • the mechanism includes a base, an upper cover, a central motor, a central guide post, and a central cylindrical cam fixedly connected to the lower output shaft of the central motor and matched with the central guide post through a central blind hole. It also includes two symmetrically fixed side guides.
  • the Chinese patent application with publication number CN108854005A discloses an all-round mobile badminton robot. Including the main moving unit, the induction probe mounting frame, the induction probe, the electric control box, the auxiliary moving unit, the rotating lifting unit, and the striking unit.
  • the included angle between the adjacent axes of the four combined wheels of the main moving unit is 90°, and there is a secondary moving unit underneath, and a rotating lifting unit and a striking unit on the upper side.
  • the robot realizes omni-directional movement in any direction in the plane through the mobile unit, so that the robot quickly moves to the vicinity of the badminton drop point.
  • the rotating lifting unit and the striking unit of the robot can realize the movement and rotation in the space.
  • Part of the current bouncing robot is a bionic walking and bouncing robot, and the other part is an electromechanical gain type elastic force mechanism.
  • the driving methods include pneumatic, centrifugal force, spring force, etc.
  • Existing bounce robots are mainly used in archaeology, military, geology, or other planetary exploration fields that require the ability to cross obstacles. Generally, the robot bounces as a whole, and only has two modes of continuous bounce or intermittent bounce. One. For badminton, the high-click ball in badminton is a common hitting pattern. The existing badminton robot does not have a bounce function. Due to the constraints of the center of gravity and stability, the hitting height of the existing badminton robot is relatively limited, so that the hitting point height can only exist in a low range.
  • the purpose of the present invention is to provide an electromagnetically released bouncer robot, a badminton robot and an electromagnetically released bouncer mechanism, which can achieve continuous and intermittent bounce modes, has a higher bounce height, and a more flexible degree of freedom.
  • the present invention provides the following technical solutions:
  • the present invention first proposes an electromagnetic release bouncing mechanism, which includes an electromagnet base and a magnetic suction plate that can be adsorbed on the electromagnet base under the action of electromagnetic force.
  • the magnetic suction plate is provided with a bouncing energy storage release.
  • the bouncing energy-storing and releasing mechanism includes a base arranged above the magnetic iron plate, and at least three bouncing legs hingedly connected to the base are provided with at least three circularly evenly distributed bouncing legs, and the bouncing legs are far away from the base.
  • the free end of the seat is located outside the magnetic iron plate;
  • the bouncing energy storage and energy release mechanism further includes:
  • the opening drive mechanism is used to drive the bounce leg to open or close;
  • the bouncing energy releasing mechanism is used to accumulate potential energy when the bouncing leg is opened, release the potential energy after the electromagnetic force between the electromagnet base and the magnetic iron plate disappears, and drive the bouncing leg to close and bounce.
  • the badminton hitting mechanism includes a boom rotating shaft fixedly arranged on the base, a boom rotating synchronously is sleeved on the boom rotating shaft, and a small arm coaxial with the lower arm is sleeved on the boom rotating shaft.
  • a wrist is provided on the top of the forearm, a wrist shaft is provided on the wrist, a handle holder that rotates with the wrist shaft is sleeved, and a racket is installed on the handle holder;
  • Both the boom rotation axis and the wrist rotation axis are perpendicular to the rotation axis of the forearm, and the space between the boom rotation axis and the wrist rotation axis is perpendicular;
  • It also includes a big arm driving mechanism for driving the big arm to rotate around the horizontal axis of the big arm, a small arm driving mechanism for driving the small arm to rotate, and a small arm driving mechanism for driving the grip holder around the wrist
  • a big arm driving mechanism for driving the big arm to rotate around the horizontal axis of the big arm
  • a small arm driving mechanism for driving the small arm to rotate
  • a small arm driving mechanism for driving the grip holder around the wrist
  • a wrist-driven motor that rotates on a horizontal shaft.
  • the boom driving mechanism includes a boom driving motor fixedly mounted on the magnetic attraction disk or the base, and a transmission connection between the output shaft of the boom driving motor and the boom rotating shaft;
  • the forearm driving mechanism includes a forearm driving motor installed in the big arm, and a transmission connection between the output shaft of the forearm driving motor and the forearm;
  • the wrist driving mechanism includes a wrist driving motor installed on the wrist, and the output shaft of the wrist driving motor is in a transmission connection with the wrist rotating shaft.
  • the omni-directional moving trolley adopts an intelligent AGV trolley, and the intelligent AGV trolley is equipped with a vision sensor system for visual tracking, trajectory fitting, calculation and judgment of the landing point of the target ball, and a visual sensor system for positioning the ball.
  • the navigation and positioning system for the intelligent AGV trolley to quickly move to the take-off location or the landing location.
  • control system includes a control box installed on the magnetic suction plate or the base, and the control box is provided with a controller, a wireless communication module, and is used to control the large
  • the arm motor control circuit for controlling the action of the arm drive motor
  • the forearm motor control circuit for controlling the action of the arm drive motor
  • the wrist motor control circuit for controlling the action of the wrist drive motor
  • the wireless communication module, the boom motor control circuit, the forearm motor control circuit, and the wrist motor control circuit are electrically connected
  • the smart AGV car is provided with a wireless communication system that realizes wireless communication with the wireless communication module.
  • the electromagnetic release bouncing mechanism of the present invention utilizes the electromagnetic force adsorption between the electromagnet base and the magnetic iron plate to absorb the bouncing energy storage and release mechanism on the electromagnet base, ensuring that the bouncing energy storage and release mechanism does not take off.
  • the electromagnetic force between the electromagnet base and the magnetic iron plate cannot be released under the action of the electromagnetic force, and when the electromagnetic force between the electromagnet base and the magnetic iron plate disappears, the bounce energy release mechanism releases the accumulated potential energy to drive the bounce
  • the legs are closed and make the magnetic iron plate and the spring energy storage and release mechanism bounce together; and according to the spring principle of the electromagnetic release spring mechanism of the present invention, it can be known that the accumulation and release of potential energy can be a continuous process or an intermittent process. Therefore, the electromagnetic release bouncing mechanism of the present invention can realize continuous bouncing and intermittent bouncing.
  • the electromagnetic release bouncing robot of the present invention is equipped with an omnidirectional moving trolley, and the electromagnet base is arranged on the omnidirectional moving trolley.
  • the omnidirectional moving trolley can be used to control the bounce position and the omnidirectional moving trolley can be used to accurately catch the bounce.
  • the parts increase the flexibility of bounce.
  • the electromagnetic release bouncing badminton robot of the present invention uses a badminton hitting mechanism to control the space position of the racket by using the mutually perpendicular boom shaft and forearm shaft, and then uses the wrist shaft to control the direction of the racket. In this way, the direction of the ball can be controlled according to the direction of the ball. Quickly adjust the racket position and achieve the technical purpose of hitting the racket.
  • the smart AGV car is used as a vehicle for the bounce robot. It can run freely in a flat field. It can hit low-altitude flying badminton when it can't jump. After taking off, it can hit high-point badminton to complete high-point smash, lob and other actions. , The function and performance are more perfect;
  • the electromagnetically released bounce badminton robot of the present invention has simple structure and strong maneuverability. It takes advantage of the fast positioning of the intelligent AGV trolley and the high impact of the bounce robot. It can take off continuously or intermittently, and can satisfy badminton omni-directional, full-time and full-air-space hits. The requirements of the ball perfectly simulate the batting behavior of badminton players, and can even reach a very high level; it is of great importance for improving the automation and intelligence level of service-oriented and competitive robots in my country and accelerating the advancement and development of intelligent robots. significance.
  • Figure 1 is a schematic structural diagram of an embodiment of the electromagnetically released bounce badminton robot of the present invention
  • this embodiment is a schematic diagram of the electromagnetically released bounce badminton robot hitting the ball when it is not able to jump.
  • the electromagnetically released bouncing badminton robot of this embodiment includes an electromagnetically released bouncing robot.
  • the electromagnetically released bouncing robot of this embodiment includes an omnidirectional moving trolley 1 and an electromagnetically released bouncing mechanism.
  • the electromagnetic release bounce mechanism of this embodiment includes an electromagnet base 2 and a magnetic iron plate 5 that can be adsorbed on the electromagnet base 2 under the action of electromagnetic force, and the magnetic iron plate 5 is provided with a spring energy storage and energy release mechanism;
  • the bouncing energy-storing energy-releasing mechanism includes a base 3 arranged above the magnetic iron plate 5.
  • the base 3 is provided with at least three bouncing legs 10 hingedly connected to the base 3, which are evenly distributed in a ring shape, and the bouncing legs 10 are away from the free end of the base 3. Located outside the magnetic iron plate 5.
  • the bouncing legs 10 of this embodiment are set to have three evenly distributed loops.
  • the bouncing energy releasing mechanism is used to accumulate potential energy when the bouncing leg 10 is opened, release the potential energy after the electromagnetic force between the electromagnet base 2 and the magnetic iron plate 5 disappears, and drive the bouncing leg 10 to close and bounce.
  • potential energy There are many sources of potential energy. One is the energy output when the opening driving mechanism drives the bounce leg 10 to open, and the other is the potential energy of gravity during the landing of the robot, which will not be described again.
  • the electromagnet base 2 of this embodiment is arranged on the top surface of the omnidirectional moving trolley 1, and the base 3 of this embodiment is provided with a badminton hitting mechanism.
  • the rotation axis of the big arm and the rotation axis of the wrist are both perpendicular to the rotation axis of the forearm 17, and the space between the rotation axis of the big arm and the rotation axis of the wrist is perpendicular.
  • the badminton hitting mechanism of this embodiment also includes a boom driving mechanism for driving the boom 14 to rotate about the horizontal axis of the boom, a forearm driving mechanism for driving the forearm 17 to rotate, and a forearm driving mechanism for driving the handle holder 20 around.
  • the wrist driving motor 18 rotates the wrist horizontally.
  • the opening driving mechanism of this embodiment includes electric push-pull rods 8 arranged in one-to-one correspondence with the bounce legs 10, one end of the electric push-pull rod 8 is hingedly connected with the bounce legs 10, and the other end is connected to the magnetic iron plate 5 or the base. 3 Articulated connection, using an electric push-pull rod 8 to drive the bounce leg 10 to open, and output the energy required to drive the bounce leg 10 to open.
  • the magnetic attraction disk 5 of this embodiment is hingedly connected.
  • the bouncing energy releasing mechanism of this embodiment includes a tension spring 12 for accumulating and releasing potential energy; specifically, the tension spring 12 is arranged between the two bouncing legs 10; or, the tension spring 12 and the bouncing leg 10 is arranged in one-to-one correspondence, and the tension spring 12 is arranged between the bouncing leg 10 and the magnetic iron plate 5 or the base 3, which can achieve the extension of the tension spring 12 during the opening of the bouncing leg 10, and the electric The technical purpose of converting the energy output by the push-pull rod 8 into the potential energy of the tension spring 12.
  • the extension spring 12 of this embodiment is arranged between two adjacent bounce legs 10, and two ends of the extension spring 12 are respectively hingedly connected with the corresponding bounce legs 10 through a universal joint 11.
  • the free end of the bouncing leg 10 is provided with a roller 9 for rolling fit with the electromagnet base 2, which can reduce the friction between the bouncing leg 10 and the electromagnet base 2, reduce energy loss and reduce the electromagnet base 2. Of wear.
  • a supporting link 6 is provided between the magnetic attraction plate 5 and the base 3, and the distance between the electromagnet base 2 and the base 3 cannot be adjusted at this time; or the electromagnet base 2 and the base 3 are provided There is an adjustment mechanism for adjusting the height of the base 3 relative to the electromagnet base 2. In this way, by adjusting the height of the distance between the electromagnet base 2 and the base 3 through the adjustment mechanism, the bounce leg 10 can be opened to give way and the bounce can be controlled. The maximum opening angle of the leg 10.
  • a supporting link 6 is provided between the magnetic iron plate 5 and the base 3 in this embodiment.
  • the boom driving mechanism of this embodiment includes a boom driving motor 7 fixedly mounted on the magnetic attraction plate 5 or the base 3, and the output shaft of the boom driving motor 7 is in a transmission connection with the boom rotating shaft.
  • the boom drive mechanism of this embodiment includes a fixed installation on the base 3, and a bevel gear transmission mechanism 15 is provided between the output shaft of the boom drive motor 7 and the boom rotation shaft.
  • the forearm driving mechanism of this embodiment includes a forearm driving motor 16 installed in the big arm 14, and the output shaft of the forearm driving motor 16 is in a transmission connection with the forearm 17.
  • the output shaft of the forearm drive motor 16 is coaxial with the forearm 17, and the output shaft of the forearm drive motor 16 and the forearm 17 are connected by a connecting shaft.
  • the wrist drive mechanism of this embodiment includes a wrist drive motor 18 mounted on the wrist 19, and the output shaft of the wrist drive motor 18 is in a transmission connection with the wrist shaft.
  • the omnidirectional mobile car 1 of this embodiment adopts a smart AGV car.
  • the smart AGV car is equipped with a visual sensor system for visual tracking, trajectory fitting, calculation and judgment of the target ball, and a positioning intelligence system.
  • the navigation and positioning system for the AGV trolley to quickly move to the take-off location or the landing location.
  • the electromagnetically released bouncing badminton robot of this embodiment also includes a control system.
  • the control system includes a control box 13 mounted on the base 3.
  • the control box 13 is provided with a controller, a wireless communication module, and a motor for controlling the boom drive.
  • the circuit, the arm motor control circuit, and the wrist motor control circuit are electrically connected, and the smart AGV car is equipped with a wireless communication system that realizes wireless communication with the wireless communication module.
  • the control box 13 of this embodiment is arranged at one end of the boom rotating shaft, and the other end of the boom rotating shaft is provided with a power source 4, which can prevent interference with the boom.
  • the electromagnetically released bouncing badminton robot of this embodiment uses the electromagnet base 2 on the smart AGV trolley to generate attraction to the magnetic iron plate 5, so that the bouncing leg 10 is opened, and the tension spring 12 between the legs is stretched to accumulate elastic potential energy. .
  • the electromagnet base 2 is powered off, the magnetic force of the electromagnet base 2 to the magnetic iron plate 5 suddenly disappears.
  • the elastic potential energy of the tension spring 12 of the bounce leg 10 is converted into mechanical energy, which drives the bounce back 10 to close and bounce upwards, and at the same time the robot boom , The forearm and the wrist swing upwards to generate centrifugal force.
  • the elastic force of the extension spring 12 and the centrifugal force of the mechanical arm act together to make the robot take off.
  • the motor is driven by the control system to drive the corresponding joints of the robot to the appropriate motion state, so as to drive the racket to hit the badminton.
  • the drive motor drives the robot to move the corresponding joints to perform the task of posture adjustment, so that the three feet are basically in the same horizontal plane.
  • the intelligent AGV car determines the take-off point of the robot and can move in any direction.
  • the extension length of the extension spring 12 can be adjusted by an electric push-pull rod.
  • the extension length of the extension spring 12 directly affects the magnitude of the elastic force.
  • the take-off height can be controlled.
  • the magnetic attraction plate 5 In addition to being attracted by the electromagnet base 2, the magnetic attraction plate 5 also has the function of lowering the center of gravity of the robot, so that the robot has a certain degree of stability when hitting and landing in the air.

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Abstract

一种电磁释放弹跳机构，包括电磁铁底座（2）和可在电磁力作用下吸附在所述电磁铁底座（2）上的磁吸铁盘（5），所述磁吸铁盘（5）上设有弹跳蓄能释能机构；所述弹跳蓄能释能机构包括设置在所述磁吸铁盘（5）上方的基座（3），所述基座（3）上设有环形均布的至少三根与其铰接连接的弹跳腿（10），所述弹跳腿（10）远离所述基座（3）的自由端位于所述磁吸铁盘（5）之外；所述弹跳蓄能释能机构还包括：张开驱动机构，用于驱动所述弹跳腿（10）张开或合拢；弹跳释能机构，用于在所述弹跳腿（10）张开时积蓄势能、在所述电磁铁底座（2）与所述磁吸铁盘（5）之间的电磁力消失后释放所述势能并驱动所述弹跳腿（10）闭合弹跳。

Description

电磁释放弹跳机器人及羽毛球机器人和电磁释放弹跳机构 技术领域
本发明涉及一种弹跳机器人，具体的为一种电磁释放弹跳机器人及羽毛球机器人和电磁释放弹跳机构。
背景技术
随着智能制造的推广与普及，为了有效降低成本，提高服务效率和服务质量，作为自动化、智能化的装备，机器人在文化、娱乐、体育中的应用越来越广泛。
公开号为CN 102050165A的中国专利申请公开了一种基于电机驱动的机器人垂直弹跳机构。该机构包括底座、上盖板、中心电机、中心导柱、以及固连于中心电机下端输出轴并通过中心盲孔与中心导柱配合的中心圆柱凸轮，还包括两个对称固定于相应侧导柱上的与中心圆柱凸轮的凹槽配合的凸起杆；还包括两个铰接于上盖板和底座之间的折杆机构。该机构利用中心圆柱凸轮转动时其外表面上的螺旋型凹槽受外力作用会同时向下移动，带动六杆机构发生变形，机构重心下移，同时拉伸弹簧产生内应力，使机器人产生跳跃。
公开号为CN108854005A的中国专利申请公开了一种全方位移动羽毛球机器人。包括主移动单元、感应探头安装架、感应探头、电控箱、副移动单元、旋转升降单元、击打单元。主移动单元四个组合轮相邻轴线之间的夹角为90°，下有副移动单元，上有旋转升降单元和击打单元。该机器人通过移动单元实现平面内任意方向的全方位移动，使机器人迅速移动到羽毛球落点附近，机器人的旋转升降单元和击打单元可实现空间内的移动和转动。
目前的弹跳机器人一部分为仿生型行走兼弹跳机器人，另一部分为电气机械增益型弹力机构，驱动方式包括气动、离心力、弹簧弹力等。现有的弹跳机器人主要用于需要有越障能力的考古、军事、地质或其他星球勘探等领域，一般是机器人作为一个整体进行弹跳，并且是只具备连续型弹跳或间歇性弹跳两种模式之一。对于羽毛球运动而言，羽毛球运动中的高点击球是常见的击球模式。现有的羽毛球机器人并不具备弹跳功能，由于受到重心及稳定性的制约，现有的羽毛球机器人的击打高度较为有限，从而也使得击球点高度只能存在于较低的范围。
发明内容
有鉴于此，本发明的目的在于提供一种电磁释放弹跳机器人及羽毛球机器人和电磁释放弹跳机构，能够实现连续和间歇两种方式弹跳，且弹跳高度更高，自由度更加灵活多变。
为达到上述目的，本发明提供如下技术方案：
本发明首先提出了一种电磁释放弹跳机构，包括电磁铁底座和可在电磁力作用下吸附在 所述电磁铁底座上的磁吸铁盘，所述磁吸铁盘上设有弹跳蓄能释能机构；
所述弹跳蓄能释能机构包括设置在所述磁吸铁盘上方的基座，所述基座上设有环形均布的至少三根与其铰接连接的弹跳腿，所述弹跳腿远离所述基座的自由端位于所述磁吸铁盘之外；
所述弹跳蓄能释能机构还包括：
张开驱动机构，用于驱动所述弹跳腿张开或合拢；
弹跳释能机构，用于在所述弹跳腿张开时积蓄势能、在所述电磁铁底座与所述磁吸铁盘之间的电磁力消失后释放所述势能并驱动所述弹跳腿闭合弹跳。
进一步，所述张开驱动机构包括与所述弹跳腿一一对应设置的电动推拉杆，所述电动推拉杆的一端分别与所述弹跳腿铰接连接、另一端与所述磁吸铁盘或所述基座铰接连接。
进一步，所述弹跳释能机构包括用于积蓄势能和释放势能的拉伸弹簧；
所述拉伸弹簧设置在两根所述弹跳腿之间；或，
所述拉伸弹簧与所述弹跳腿一一对应设置，且所述拉伸弹簧设置在所述弹跳腿与所述磁吸铁盘或基座之间。
进一步，所述弹跳腿的自由端上设有用于与电磁铁底座滚动配合的滚轮。
进一步，所述磁吸铁盘与所述基座之间设有支撑连杆相连；或所述电磁铁底座与所述基座之间设有用于调节所述基座相对于所述电磁铁底座的高度的调节机构。
本发明还提出了一种电磁释放弹跳机器人，其特征在于：包括全向移动小车和如上所述的电磁释放弹跳机构，所述电磁铁底座设置在所述全向移动小车的顶面上。
本发明还提出了一种电磁释放弹跳羽毛球机器人，包括如上所述的电磁释放弹跳机器人，所述基座上设有羽毛球击球机构；
所述羽毛球击球机构包括固定设置在所述基座上的大臂转轴，所述大臂转轴上套装设有与同步转动的大臂，所述大臂内套装设有与其同轴的小臂，所述小臂的顶部设有手腕，所述手腕上设有手腕转轴，所述手腕转轴上套装设有与其转动配合的拍柄固持器，所述拍柄固持器上安装设有球拍；
所述大臂转轴与所述手腕转轴均与所述小臂的转轴垂直，且所述大臂转轴与所述手腕转轴之间空间垂直；
还包括用于驱动所述大臂绕所述大臂水平转轴转动的大臂驱动机构、用于驱动所述小臂转动的小臂驱动机构和用于驱动所述拍柄固持器绕所述手腕水平转轴转动的手腕驱动电机。
进一步，所述大臂驱动机构包括固定安装在所述磁吸铁盘或基座上的大臂驱动电机，所 述大臂驱动电机的输出轴与所述大臂转轴之间传动连接；
所述小臂驱动机构包括安装在所述大臂内的小臂驱动电机，所述小臂驱动电机的输出轴与所述小臂之间传动连接；
所述手腕驱动机构包括安装在所述手腕上的手腕驱动电机，所述手腕驱动电机的输出轴与所述手腕转轴之间传动连接。
进一步，所述全向移动小车采用智能AGV小车，所述智能AGV小车内设有用于对目标来球进行视觉跟踪、轨迹拟合、落点计算与判断的视觉传感系统和用于定位所述智能AGV小车快速移动至起跳地点或降落地点的导航定位系统。
进一步，还包括控制系统，所述控制系统包括安装在所述磁吸铁盘或所述基座上的控制箱，所述控制箱内设有控制器、无线通讯模块、用于控制所述大臂驱动电机动作的大臂电机控制电路、用于控制所述小臂驱动电机动作的小臂电机控制电路和用于控制所述手腕驱动电机动作的手腕电机控制电路，所述控制器与所述无线通讯模块、大臂电机控制电路、小臂电机控制电路和手腕电机控制电路电连接，且所述智能AGV小车内设有与所述无线通讯模块实现无线通讯的无线通讯系统。
本发明的有益效果在于：
本发明的电磁释放弹跳机构，利用电磁铁底座和磁吸铁盘之间的电磁力吸附作用，能够将弹跳蓄能释能机构吸附在电磁铁底座上，保证弹跳蓄能释能机构在未起跳时的稳定性以及降落后的快速稳定；通过设置弹跳蓄能释能机构，利用张开驱动机构驱动弹跳腿张开或合拢，弹跳释能机构在弹跳腿张开过程中积蓄势能，该势能在电磁铁底座和磁吸铁盘之间的电磁力吸附作用下无法释放，且当电磁铁底座和磁吸铁盘之间的电磁力吸附作用消失后，弹跳释能机构释放蓄积的势能，驱动弹跳腿合拢并使磁吸铁盘及弹跳蓄能释能机构一起弹跳；且根据本发明电磁释放弹跳机构的弹跳原理可知，势能的蓄积和释放可以是一个连续的过程，也可以是一个间歇式的过程，因而本发明的电磁释放弹跳机构可实现连续弹跳，也可以实现间歇式弹跳。
本发明的电磁释放弹跳机器人，通过设置全向移动小车，并将电磁铁底座设置在全向移动小车上，如此，即可利用全向移动小车控制弹跳位置以及利用全向移动小车准确接住弹跳的部件，增加弹跳的灵活性。
本发明的电磁释放弹跳羽毛球机器人，通过设置羽毛球击球机构，利用相互垂直的大臂转轴和小臂转轴控制球拍的空间位置，再利用手腕转轴控制球拍的拍打方向，如此，可根据来球方向快速调节球拍位置并实现击球拍打的技术目的。
本发明的电磁释放弹跳羽毛球机器人还具有以下优点：
1)利用羽毛球击球机构的机械臂摆动产生的离心力，还可在一定程度上改变起跳方向，在拉伸弹簧的弹力以及该离心力的共同作用下，可使弹跳高度大大提高；且弹跳高度可以通过弹跳腿上的电动拉杆调整拉伸弹簧的伸长长度以及改变机械臂摆臂速度进行控制；
2)智能AGV小车作为弹跳机器人运载工具，可以在平坦场地中任意驰行，在不起跳时可以击打低空飞行羽毛球，起跳后可以击打高点羽毛球，完成高点扣杀、吊球等动作，功能和性能更加完善；
本发明的电磁释放弹跳羽毛球机器人，结构简单、操控性强，发挥了智能AGV小车定位快，弹跳机器人击球高的优势，可以连续起跳或间断起跳，能够满足羽毛球全方位全时域全空域击球的要求，极好地模拟了羽毛球运动员的击球行为，甚至能够达到极高的水平；对提升我国服务型、竞技性机器人的自动化、智能化水平，加快推动智能机器人的进步和发展有着重大意义。
附图说明
为了使本发明的目的、技术方案和有益效果更加清楚，本发明提供如下附图进行说明：
图1为本发明电磁释放弹跳羽毛球机器人实施例的结构示意图；
图2为本实施例电磁释放弹跳羽毛球机器人起跳瞬间的状态示意图；
图3为本实施例电磁释放弹跳羽毛球机器人在不起跳时击球的状态示意图。
附图标记说明：
1、全向移动小车；2、电磁铁底座；3、基座；4、电源；5、磁吸铁盘；6、支撑连杆；7、大臂驱动电机；8、电动推拉杆；9、滚轮；10、弹跳腿；11、万向接头；12、拉伸弹簧；13、控制箱；14、大臂；15、锥齿轮传动机构；16、小臂驱动电机；17、小臂；18、手腕驱动电机；19、手腕；20、拍柄固持器；21、球拍。
具体实施方式
下面结合附图和具体实施例对本发明作进一步说明，以使本领域的技术人员可以更好的理解本发明并能予以实施，但所举实施例不作为对本发明的限定。
如图1所示，为本实施例电磁释放弹跳羽毛球机器人在不起跳时击球的状态示意图。本实施例的电磁释放弹跳羽毛球机器人，包括电磁释放弹跳机器人。本实施例的电磁释放弹跳机器人包括全向移动小车1和电磁释放弹跳机构。本实施例的电磁释放弹跳机构，包括电磁铁底座2和可在电磁力作用下吸附在电磁铁底座2上的磁吸铁盘5，磁吸铁盘5上设有弹跳蓄能释能机构；
弹跳蓄能释能机构包括设置在磁吸铁盘5上方的基座3，基座3上设有环形均布的至少三根与其铰接连接的弹跳腿10，弹跳腿10远离基座3的自由端位于磁吸铁盘5之外。本实施例的弹跳腿10环形均布设为三条。
本实施例的弹跳蓄能释能机构还包括：
张开驱动机构，用于驱动弹跳腿10张开或合拢；
弹跳释能机构，用于在弹跳腿10张开时积蓄势能、在电磁铁底座2与磁吸铁盘5之间的电磁力消失后释放势能并驱动弹跳腿10闭合弹跳。势能的来源有多种，一是张开驱动机构驱动弹跳腿10张开时输出的能量，二是机器人降落过程中的重力势能等，不再累述。
本实施例的电磁铁底座2设置在全向移动小车1的顶面上，本实施例的基座3上设有羽毛球击球机构。
本实施例的羽毛球击球机构包括固定设置在基座3上的大臂转轴，大臂转轴上套装设有与同步转动的大臂14，大臂14内套装设有与其同轴的小臂17，小臂17的顶部设有手腕19，手腕19上设有手腕转轴，手腕转轴上套装设有与其转动配合的拍柄固持器20，拍柄固持器20上安装设有球拍21。大臂转轴与手腕转轴均与小臂17的转轴垂直，且大臂转轴与手腕转轴之间空间垂直。本实施例的羽毛球击球机构还包括用于驱动大臂14绕大臂水平转轴转动的大臂驱动机构、用于驱动小臂17转动的小臂驱动机构和用于驱动拍柄固持器20绕手腕水平转轴转动的手腕驱动电机18。
进一步，本实施例的张开驱动机构包括与弹跳腿10一一对应设置的电动推拉杆8，电动推拉杆8的一端分别与弹跳腿10铰接连接、另一端与磁吸铁盘5或基座3铰接连接，利用电动推拉杆8驱动弹跳腿10张开，并输出驱动弹跳腿10张开所需的能量。本实施例的磁吸铁盘5铰接连接。
进一步，本实施例的弹跳释能机构包括用于积蓄势能和释放势能的拉伸弹簧12；具体的，拉伸弹簧12设置在两根弹跳腿10之间；或，拉伸弹簧12与弹跳腿10一一对应设置，且拉伸弹簧12设置在弹跳腿10与磁吸铁盘5或基座3之间，均可实现在弹跳腿10张开过程中拉长拉伸弹簧12，并将电动推拉杆8输出的能量转换为拉伸弹簧12的势能的技术目的。本实施例的拉伸弹簧12设置在相邻两根弹跳腿10之间，拉伸弹簧12的两端分别通过万向接头11与对应的弹跳腿10铰接连接。
进一步，弹跳腿10的自由端上设有用于与电磁铁底座2滚动配合的滚轮9，能够减小弹跳腿10与电磁铁底座2之间的摩擦力，减少能量损耗并减小电磁铁底座2的磨损。
进一步，磁吸铁盘5与基座3之间设有支撑连杆6相连，此时电磁铁底座2与基座3之 间的间距无法调节；或电磁铁底座2与基座3之间设有用于调节基座3相对于电磁铁底座2的高度的调节机构，如此，通过调节机构调节电磁铁底座2与基座3之间的间距高度，可为弹跳腿10张开让位，即可控制弹跳腿10的最大张开角度。本实施例的磁吸铁盘5与基座3之间设有支撑连杆6相连。
进一步，本实施例的大臂驱动机构包括固定安装在磁吸铁盘5或基座3上的大臂驱动电机7，大臂驱动电机7的输出轴与大臂转轴之间传动连接。本实施例的大臂驱动机构包括固定安装在基座3上，大臂驱动电机7的输出轴与大臂转轴之间设有锥齿轮传动机构15传动连接。
本实施例的小臂驱动机构包括安装在大臂14内的小臂驱动电机16，小臂驱动电机16的输出轴与小臂17之间传动连接。本实施例的小臂驱动电机16的输出轴与小臂17同轴，且小臂驱动电机16的输出轴与小臂17之间采用连接轴相连。
本实施例的手腕驱动机构包括安装在手腕19上的手腕驱动电机18，手腕驱动电机18的输出轴与手腕转轴之间传动连接。
进一步，本实施例的全向移动小车1采用智能AGV小车，智能AGV小车内设有用于对目标来球进行视觉跟踪、轨迹拟合、落点计算与判断的视觉传感系统和用于定位智能AGV小车快速移动至起跳地点或降落地点的导航定位系统。
进一步，本实施例的电磁释放弹跳羽毛球机器人还包括控制系统，控制系统包括安装在基座3上的控制箱13，控制箱13内设有控制器、无线通讯模块、用于控制大臂驱动电机7动作的大臂电机控制电路、用于控制小臂驱动电机16动作的小臂电机控制电路和用于控制手腕驱动电机18动作的手腕电机控制电路，控制器与无线通讯模块、大臂电机控制电路、小臂电机控制电路和手腕电机控制电路电连接，且智能AGV小车内设有与无线通讯模块实现无线通讯的无线通讯系统。本实施例的控制箱13设置在大臂转轴的一端，大臂转轴的另一端设有电源4，能够防止与大臂之间产生干涉。
本实施例的电磁释放弹跳羽毛球机器人，利用智能AGV小车上的电磁铁底座2，对磁吸铁盘5产生吸引力，使得弹跳腿10张开，腿间拉伸弹簧12拉伸，积蓄弹性势能。电磁铁底座2断电，电磁铁底座2对磁吸铁盘5的磁力突然消失，弹跳腿10的拉伸弹簧12的弹性势能转化为机械能，驱动弹跳退10合拢，向上弹跳，同时机器人大臂、小臂、手腕上摆，产生离心力，拉伸弹簧12的弹性力和机械臂的离心力共同作用促使机器人起跳。根据弹跳机器人的运动学和动力学计算和机械臂路径规划，起跳之后通过控制系统分别驱动电机带动机器人相应关节达到适当的运动状态，以驱使球拍击打羽毛球。完成击打羽毛球动作后，驱动电机 带动机器人相应关节运动，执行调姿任务，使三足基本达到在同一水平面内。机器人下落，AGV小车的电磁铁底座2通电，拉伸弹簧10拉长，吸收机器人的降落冲击能量，电磁铁底座2与磁吸铁盘5吸合，准备下次起跳。智能AGV小车作为机器人的运载工具，决定了机器人的起跳点，可以做任意方向运动。拉伸弹簧12的拉伸长度可以由电动推拉杆调整，拉伸弹簧12的拉伸长度直接影响弹力的大小，结合机械臂的摆动速度，可以控制起跳高度。磁吸铁盘5除了能被电磁铁底座2吸合，还有降低机器人重心的作用，使机器人腾空击打和降落具有一定稳定性。
下面对本实施例的电磁释放弹跳羽毛球机器人的工作过程进行详细说明：
初始状态：电磁铁底座2通电，磁吸铁盘5被吸附在电磁铁底座2上，电动推拉杆8伸长到最长位置，弹跳腿10的张开角度处于最大位置，拉伸弹簧12内存储有用于驱动弹跳的势能；机器人大臂、手腕固持球拍均处于铅垂状态。
不起跳击球：通过视觉测量、追踪和计算，智能AGV小车载运机器人到达击球位置，直接摆动机械臂击球。
起跳准备：通过视觉测量、追踪和计算，确定起跳地点和起跳方向，智能AGV小车载运机器人到达击球位置，控制系统发出指令调节电动推拉杆8使拉伸拉簧12的长度至适当长度；如不需要离心力辅助起跳时，大臂、手腕固持球拍均保持铅垂状态，此状态下起跳为垂直起跳；如需离心力辅助起跳，将大臂调整至水平位置，手腕固持球拍调整至下垂状态，此状态下起跳由于离心力的原因会在大臂旋转的平面内侧向起跳。
起跳：车载电磁铁断电，大臂和小臂向上摆动或保持不动，机器人起跳。
腾空上升(击球前引拍)：根据弹跳机器人运动学和动力学计算，控制系统通过电机驱动大臂、小臂、手腕，向来球方向反向引拍。
腾空(击球)：大臂、小臂、手腕在各自电机驱动下，带动球拍击球。
腾空降落(击球后)：大臂、小臂、手腕在各自电机驱动下，根据弹跳机器人运动学和动力学计算，调整基座3姿态至水平，电动推拉杆8使拉簧处于最短位置，弹跳腿10向内侧闭合，电磁铁底座2通电产生电磁吸引力。
降落复原：弹跳腿10的滚轮碰触到智能AGV小车的上表面开始，在降落冲击力和电磁铁对磁吸铁盘吸引力的作用下，弹跳腿10展开，拉伸弹簧伸长，对冲击力进行缓冲，直至磁吸铁盘碰触到智能AGV小车表面并被车载电磁铁牢牢吸住。最后，大臂、小臂、手腕在各自电机驱动下，恢复到铅垂状态。
以上所述实施例仅是为充分说明本发明而所举的较佳的实施例，本发明的保护范围不限 于此。本技术领域的技术人员在本发明基础上所作的等同替代或变换，均在本发明的保护范围之内。本发明的保护范围以权利要求书为准。

Claims (10)

  1. 一种电磁释放弹跳机构，其特征在于：包括电磁铁底座(2)和可在电磁力作用下吸附在所述电磁铁底座(2)上的磁吸铁盘(5)，所述磁吸铁盘(5)上设有弹跳蓄能释能机构；
    所述弹跳蓄能释能机构包括设置在所述磁吸铁盘(5)上方的基座(3)，所述基座(3)上设有环形均布的至少三根与其铰接连接的弹跳腿(10)，所述弹跳腿(10)远离所述基座(3)的自由端位于所述磁吸铁盘(5)之外；
    所述弹跳蓄能释能机构还包括：
    张开驱动机构，用于驱动所述弹跳腿(10)张开或合拢；
    弹跳释能机构，用于在所述弹跳腿(10)张开时积蓄势能、在所述电磁铁底座(2)与所述磁吸铁盘(5)之间的电磁力消失后释放所述势能并驱动所述弹跳腿(10)闭合弹跳。
  2. 根据权利要求1所述的电磁释放弹跳机构，其特征在于：所述张开驱动机构包括与所述弹跳腿(10)一一对应设置的电动推拉杆(8)，所述电动推拉杆(8)的一端分别与所述弹跳腿(10)铰接连接、另一端与所述磁吸铁盘(5)或所述基座(3)铰接连接。
  3. 根据权利要求1所述的电磁释放弹跳机构，其特征在于：所述弹跳释能机构包括用于积蓄势能和释放势能的拉伸弹簧(12)；
    所述拉伸弹簧(12)设置在两根所述弹跳腿(10)之间；或，
    所述拉伸弹簧(12)与所述弹跳腿(10)一一对应设置，且所述拉伸弹簧(12)设置在所述弹跳腿(10)与所述磁吸铁盘(5)或基座(3)之间。
  4. 根据权利要求1所述的电磁释放弹跳机构，其特征在于：所述弹跳腿(10)的自由端上设有用于与电磁铁底座(2)滚动配合的滚轮(9)。
  5. 根据权利要求1所述的电磁释放弹跳机构，其特征在于：所述磁吸铁盘(5)与所述基座(3)之间设有支撑连杆(6)相连；或所述电磁铁底座(2)与所述基座(3)之间设有用于调节所述基座(3)相对于所述电磁铁底座(2)的高度的调节机构。
  6. 一种电磁释放弹跳机器人，其特征在于：包括全向移动小车(1)和如权利要求1-5任一项所述的电磁释放弹跳机构，所述电磁铁底座(2)设置在所述全向移动小车(1)的顶面上。
  7. 一种电磁释放弹跳羽毛球机器人，其特征在于：包括如权利要求6所述的电磁释放弹跳机器人，所述基座(3)上设有羽毛球击球机构；
    所述羽毛球击球机构包括固定设置在所述基座(3)上的大臂转轴，所述大臂转轴上套装设有与同步转动的大臂(14)，所述大臂(14)内套装设有与其同轴的小臂(17)，所述小臂(17)的顶部设有手腕(19)，所述手腕(19)上设有手腕转轴，所述手腕转轴上套装设有与 其转动配合的拍柄固持器(20)，所述拍柄固持器(20)上安装设有球拍(21)；
    所述大臂转轴与所述手腕转轴均与所述小臂(17)的转轴垂直，且所述大臂转轴与所述手腕转轴之间空间垂直；
    还包括用于驱动所述大臂(14)绕所述大臂水平转轴转动的大臂驱动机构、用于驱动所述小臂(17)转动的小臂驱动机构和用于驱动所述拍柄固持器(20)绕所述手腕水平转轴转动的手腕驱动电机(18)。
  8. 根据权利要求7所述的电磁释放弹跳羽毛球机器人，其特征在于：所述大臂驱动机构包括固定安装在所述磁吸铁盘(5)或基座(3)上的大臂驱动电机(7)，所述大臂驱动电机(7)的输出轴与所述大臂转轴之间传动连接；
    所述小臂驱动机构包括安装在所述大臂(14)内的小臂驱动电机(16)，所述小臂驱动电机(16)的输出轴与所述小臂(17)之间传动连接；
    所述手腕驱动机构包括安装在所述手腕(19)上的手腕驱动电机(18)，所述手腕驱动电机(18)的输出轴与所述手腕转轴之间传动连接。
  9. 根据权利要求8所述的电磁释放弹跳羽毛球机器人，其特征在于：所述全向移动小车(1)采用智能AGV小车，所述智能AGV小车内设有用于对目标来球进行视觉跟踪、轨迹拟合、落点计算与判断的视觉传感系统和用于定位所述智能AGV小车快速移动至起跳地点或降落地点的导航定位系统。
  10. 根据权利要求9所述的电磁释放弹跳羽毛球机器人，其特征在于：还包括控制系统，所述控制系统包括安装在所述磁吸铁盘(5)或所述基座(3)上的控制箱(13)，所述控制箱(13)内设有控制器、无线通讯模块、用于控制所述大臂驱动电机(7)动作的大臂电机控制电路、用于控制所述小臂驱动电机(16)动作的小臂电机控制电路和用于控制所述手腕驱动电机(18)动作的手腕电机控制电路，所述控制器与所述无线通讯模块、大臂电机控制电路、小臂电机控制电路和手腕电机控制电路电连接，且所述智能AGV小车内设有与所述无线通讯模块实现无线通讯的无线通讯系统。
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