CN115890706B - Multi-axis controlled household accompanying robot - Google Patents
Multi-axis controlled household accompanying robot Download PDFInfo
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- CN115890706B CN115890706B CN202211604451.7A CN202211604451A CN115890706B CN 115890706 B CN115890706 B CN 115890706B CN 202211604451 A CN202211604451 A CN 202211604451A CN 115890706 B CN115890706 B CN 115890706B
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 10
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 10
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses a multi-axis controlled household training robot which comprises a movable seat, an image acquisition module, a control module and a ball receiving box, wherein the image acquisition module, the control module and the ball receiving box are respectively arranged at the upper part of the movable seat, a multi-axis manipulator is arranged at the upper end face of the movable seat, a ball storage cylinder is arranged at the lower part of a ball discharging pipe, a groove is arranged at the bevel edge part of one side of the inner wall of the ball receiving box, an air pushing expansion layer is movably arranged at the upper part of the inner wall of the groove, a cover ball guide cover is arranged on the upper end face of the movable seat in a matched manner through a turnover assembly, an air source assembly is arranged on the movable seat, and the air source assembly sucks external air and sequentially discharges the external air into the groove, a main air blowing hole and an auxiliary air blowing hole. The shuttlecock falling into the ball receiving box reversely bounces under the matching of the air pushing expansion layer, the blocking expansion layer, the air source pump, the main air valve and the auxiliary air valve, and the matched arrangement of the cover ball guide cover, the main air blowing hole and the auxiliary air blowing hole enables the bounced shuttlecock to guide into the exhaust pipe and be collected by the ball storage barrel, so that the shuttlecock falling into the ball receiving box can be automatically tidied.
Description
Technical Field
The invention belongs to the technical field of accompanying robots, and particularly relates to a multi-axis controlled household accompanying robot.
Background
The domestic badminton training robot is used when the shuttlecock training is performed, the training accompanying modes are classified into automatic pitching, automatic racket, badminton recovery and the like, for the badminton recovery, the shuttlecock falling on the ground is usually recovered, and how to recover the shuttlecock in time in the process of moving to the ground along a parabolic track is a problem to be discussed;
For example, chinese patent publication No. CN104874164B discloses a vision tracking badminton training robot, which comprises an image acquisition device, a control device and a mobile device; the image acquisition device is used for acquiring image information on the badminton court; the moving device comprises a moving chassis and a ball storage piece, the ball storage piece is arranged on the moving chassis, and the top of the ball storage piece is provided with a ball inlet; the control device is in communication connection with the image acquisition device and the mobile chassis; the control device acquires image information on the badminton court through the image acquisition device, and judges nth badminton landing point information according to the image information on the badminton court; the control device calculates the motion track of the mobile chassis according to the drop point information of the nth badminton and the position information of the mobile chassis in the nth position state, and controls the mobile chassis to move to the (n+1) th position state according to the motion track, and when the mobile chassis is in the (n+1) th position state, the ball inlet of the ball storage piece is positioned on the motion track of the nth badminton; wherein n is a natural number, n is more than or equal to 1, the first position state is the initial position state of the movable chassis, and when the movable chassis is in the (n+1) th position state, the (n) th badminton is in an air flight state.
However, the above scheme has the following disadvantages: in the above technical scheme, although timely recovery of the shuttlecock before landing is realized through the cooperation of the image acquisition device, the control device and the moving device, the shuttlecock only falls on the shuttlecock storage piece, automatic arrangement and collection of the shuttlecock are not realized, manual arrangement of the shuttlecock on the shuttlecock storage piece is still needed, and how to facilitate automatic arrangement of the shuttlecock falling into the shuttlecock storage piece is a problem to be solved at present.
Disclosure of Invention
The invention aims to provide a multi-axis controlled household training robot to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The multi-axis controlled household training robot comprises a movable seat, an image acquisition module, a control module and a ball receiving box, wherein the image acquisition module, the control module and the ball receiving box are respectively arranged at the upper part of the movable seat, the control module acquires badminton motion track information through the image acquisition module and drives a driving wheel on the movable seat to enable the ball receiving box to be positioned at a badminton drop point in advance after the badminton motion track information is processed, a multi-axis manipulator is arranged on the upper end face of the movable seat, the multi-axis manipulator motion part and the ball receiving box are detachably and fixedly arranged, the bottom end face of an opening part at the upper part of the ball receiving box is of a funnel type structure, a ball discharging pipe is communicated at the bottom of the funnel type, a ball storage barrel is arranged at the lower part of the ball discharging pipe, a groove is formed in the bevel edge part at one side of the inner wall of the ball receiving box, an air pushing expansion layer is movably arranged at the upper part of the inner wall of the groove, and a pressure sensor is arranged at the connecting part of the air pushing expansion layer;
a main air blowing hole communicated with the groove is arranged on the other opposite side wall inside the ball receiving box, a cover ball guide cover is arranged on the upper end surface of the movable seat in a matched manner through a turnover assembly, an auxiliary air blowing hole is arranged on the inner wall of the cover ball guide cover, the ball receiving box enables a falling badminton to fall on the outer surface of the air pushing expansion layer under the motion of the movable seat and the matching of the multi-axis mechanical arm, an air source assembly is arranged on the movable seat and is communicated with the groove and the auxiliary air blowing hole in sequence, the pressure sensor detects that the air pushing expansion layer is impacted by the badminton, and then the turnover assembly and the air source assembly are sequentially driven through the data processing of the control module, the turnover assembly drives the cover ball guiding cover to cover the upper opening of the ball receiving box, the air source assembly sucks external air and sequentially discharges the external air into the groove, the main air blowing hole and the auxiliary air blowing hole, the air blown into the groove enables the air pushing expansion layer to instantly bulge and enables the shuttlecock to bounce towards the middle area of the top wall of the cover ball guiding cover, and the air discharged by the auxiliary air blowing hole and the main air blowing hole guides the sprung and fallen shuttlecock head and enables the shuttlecock head to sequentially fall into the ball discharging pipe and the ball storage barrel.
Preferably, the image acquisition module comprises electric lifting rod and vision tracking camera, control module comprises PLC integrated control ware, it is equipped with the uncovered portion to remove seat up end middle part, the ball receiving box is located uncovered portion top, and stores up the ball section of thick bamboo and wear in the uncovered portion.
Preferably, the ball receiving box is detachably and fixedly connected with the multi-axis manipulator moving part through the connecting rod, movable grooves are formed in the upper parts of two side walls inside the groove, the pressure sensor is arranged on the bottom end face inside the movable grooves, anti-falling movable blocks are arranged on the end faces of two sides of the air pushing expansion layer, the anti-falling movable blocks are movably inserted into the movable grooves, supporting springs are arranged between the pressure sensor and the anti-falling movable block inserting part, and deformation force generated after the air pushing expansion layer is impacted by the shuttlecock is indirectly transmitted to the pressure sensor through the anti-falling movable blocks and the supporting springs.
Preferably, the air pushing expansion layer is of an inclined design, the upper area of the air pushing expansion layer is provided with a blocking expansion layer, the bottom end face inside the groove vertically penetrates through an inner sleeve spring, the inner sleeve spring is slidably provided with a rigid elastic sheet connected with the bottom end face of the air pushing expansion layer, after the air pushing expansion layer is inflated inside the groove, the blocking expansion layer is expanded upwards and blocks the shuttlecock to move towards the side wall of the ball receiving box close to the groove, meanwhile, the rigid elastic sheet follows the air pushing expansion layer to perform bending motion, and after air flowing into the groove stops, the inner sleeve spring generates a downward pulling force on the rigid elastic sheet, so that the air pushing expansion layer is restored.
Preferably, an air cavity is arranged in the other opposite side wall of the ball receiving box, the air cavity is respectively communicated with the groove and the main air blowing hole, a sealing plate is movably arranged in the air cavity and used for temporarily sealing the main air blowing hole, a reset spring top ball rod is arranged on the upper portion of the sealing plate and penetrates through the other opposite side wall of the ball receiving box in a sliding mode, the upper portion of the ball receiving box is provided with an arc-shaped cover structure, and after the ball receiving box is covered by the ball receiving guide cover in a turnover mode, the outer arc surface of the ball receiving guide cover can push the reset spring top ball rod to move downwards and separate the sealing plate from the main air blowing hole.
Preferably, the inside cavity structure that is of cover ball direction lid, and vice gas pocket and cavity structure are linked together, the air supply subassembly is including setting up the air supply pump at the movable seat up end, and the air supply pump air outlet side is linked together through main pneumatic valve, vice pneumatic valve and recess inlet portion and cover ball direction lid cavity structure respectively and is set up, the upset subassembly is including setting up servo motor on ball receiving box lateral wall upper portion, servo motor output shaft end passes through shaft coupling and cover ball direction lid installation department fixed connection.
Preferably, the ball receiving box below is centers on the volleyball pipe outside is fixed and is provided with the guide rail balladeur train, vertically is provided with electric telescopic handle along the level on the guide rail balladeur train, can dismantle the cooperation on the guide rail balladeur train and slide and be provided with at least three storage ball section of thick bamboo, and store up between the ball section of thick bamboo and fix through the connecting plate location, electric telescopic handle flexible end is fixed to be set up on the connecting plate, when electric telescopic handle flexible end carries out telescopic motion, can change volleyball pipe below storage ball section of thick bamboo.
Compared with the prior art, the invention has the beneficial effects that: the shuttlecock falling into the ball receiving box reversely bounces under the matching of the air pushing expansion layer, the blocking expansion layer, the air source pump, the main air valve and the auxiliary air valve, and the matched arrangement of the cover ball guide cover, the main air blowing hole and the auxiliary air blowing hole enables the bounced shuttlecock to guide into the exhaust pipe and be collected by the ball storage barrel, so that the shuttlecock falling into the ball receiving box can be automatically tidied.
Drawings
FIG. 1 is a schematic cross-sectional view of the overall structure of the present invention;
FIG. 2 is an enlarged partial schematic view of the ball receiving box area of FIG. 1;
FIG. 3 is a schematic view of the initial position structure of the ball guide cover of FIG. 2;
FIG. 4 is a schematic view of the structure of the air-pushed expansion layer in FIG. 2 in an expanded state;
FIG. 5 is a schematic view of the movement trace of the badminton head of FIG. 4 after the badminton head is sprung by the air-pushed expansion layer;
FIG. 6 is a schematic view in partial cross-section of the ball storage cartridge of FIG. 2 from the left;
FIG. 7 is a schematic view of the ball storage barrel region of FIG. 6;
FIG. 8 is a schematic view of a ball receiving box in half-section according to the present invention;
FIG. 9 is an enlarged partial schematic view of the air-pushed expanding layer region of FIG. 8;
fig. 10 is a schematic view of the mating area of the cage ball guide cover and return spring ejector pins of fig. 8.
In the figure: 1. a movable seat; 2. a ball receiving box; 3. a multi-axis manipulator; 4. a groove; 5. air pushing the expansion layer; 6. a pressure sensor; 7. a main air blowing hole; 8. a cover ball guide cover; 9. an auxiliary air blowing hole; 10. an opening part; 11. a connecting rod; 12. a movable groove; 13. an anti-drop movable block; 14. a support spring; 15. a barrier expansion layer; 16. a spring in the sleeve; 17. a rigid spring plate; 18. a gas chamber; 19. sealing plate; 20. reset spring top club; 21. an air source pump; 22. a main air valve; 23. a servo motor; 24. a guide rail carriage; 25. an electric telescopic rod; 26. a connecting plate; 101. an image acquisition module; 102. a control module; 201. a ball discharge pipe; 202. a ball storage cylinder; 301. an auxiliary air valve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1-10, the present invention provides a technical solution:
embodiment one:
The utility model provides a multi-axis control's domestic training robot, including moving seat 1 and set up image acquisition module 101, control module 102 and the catching box 2 of upper portion respectively, control module 102 passes through image acquisition module 101 and obtains badminton orbit information and after handling, drive on the moving seat 1 drive wheel makes catching box 2 be located badminton drop position in advance, the right side of moving seat 1 is the universal wheel, the left side is the drive wheel of symmetry setting, the drive wheel power end passes through step motor control, preset the power pack on moving seat 1 and be used for supplying power, the up end of moving seat 1 is provided with multiaxis manipulator 3, multiaxis manipulator 3's high setting can not exert an influence on image acquisition module 101, multiaxis manipulator 3 is XYMP model that Shanghai Shangqing mechanical equipment limited company produced, multiaxis manipulator 3 can carry out adaptive specification change according to moving seat 1's specification size, the multi-axis mechanical arm 3 moving part and the ball receiving box 2 are detachably and fixedly arranged, the multi-axis mechanical arm 3 realizes multi-axis control of the movement direction of the ball receiving box 2, in particular to XYZ-axis direction control, the multi-axis mechanical arm 3 moving part can drive the ball receiving box 2 to move in multiple directions, thereby improving the ball receiving range of the ball receiving box 2 and ensuring accuracy, the bottom end surface of the upper opening part of the ball receiving box 2 is of a funnel structure as shown in figure 8, the funnel bottom is communicated with a ball discharging pipe 201, the lower part of the ball discharging pipe 201 is provided with a ball storage barrel 202, the ball storage barrel 202 is used for collecting and storing fallen shuttlecocks, the inclined edge part at the left side of the inner wall of the ball receiving box 2 is provided with a groove 4, the upper part of the inner wall of the groove 4 is movably provided with a pneumatic expansion layer 5, the pneumatic expansion layer 5 is composed of elastic rubber, a gap of 2mm is arranged between the front end surface and the rear end surface of the pneumatic expansion layer 5 and the inner wall of the groove 4, the groove 4 is convenient for discharging redundant gaps through the gaps of 2mm, so that an air wall is formed at the front end opening part and the rear end opening part of the ball receiving box 2, a pressure sensor 6 is arranged on the inner wall of the groove 4 and at the connecting part of the air pushing expansion layer 5, the pressure sensor 6 selects FX293X-100B-0100-L compact type extrusion force sensor produced by Beijing Sieve measurement and control technology company, and the specification of the pressure sensor 6 can be adjusted adaptively according to the actual use environment;
The main air blowing hole 7 communicated with the groove 4 is distributed on the right opposite side wall inside the ball receiving box 2, the upper end face of the movable seat 1 is provided with the cover ball guide cover 8 through the matching of the overturning component, the inner wall of the cover ball guide cover 8 is provided with the auxiliary air blowing hole 9, the air outlet side of the auxiliary air blowing hole 9 faces the central opening part of the funnel section of the ball receiving box 2, the ball receiving box 2 enables a falling badminton to fall on the outer surface of the air pushing expansion layer 5 under the matching of the movement of the movable seat 1 and the multi-axis manipulator 3, the falling badminton head part can elastically collide with the air pushing expansion layer 5, the movable seat 1 is provided with the air source component and is sequentially communicated with the groove 4 and the auxiliary air blowing hole 9, the pressure sensor 6 detects that the air pushing expansion layer 5 is impacted by the badminton and then can drive the overturning component and the air source component in sequence through the data processing of the control module 102, the overturning component drives the cover ball guide cover 8 to cover the upper opening of the ball receiving box 2, the air source component sucks external air and sequentially discharges the external air into the groove 4, the main air hole 7 and the auxiliary air hole 9, the air pushing expansion layer inside the groove 4 enables the air pushing expansion layer 5 to be instantaneously blown into the top wall of the badminton 7 and the air blowing hole to fall into the top wall of the air guide cover 7 and the air guide cover 201 of the ball guide cover 201, and the air is sequentially blown into the inner part of the air guide ball guide cover 201.
Embodiment two:
further explaining on the basis of embodiment one, image acquisition module 101 comprises electric lift pole and visual tracking camera, visual tracking camera passes through AI+video surveillance camera prior art means and realizes the track to the motion track of badminton and upload, do not make too much repetition, control module 102 comprises PLC integrated control ware, remove 1 up end middle part and be equipped with opening 10, opening 10's design has improved the upper and lower range of motion of receiver 2, receiver 2 is located opening 10 top, and storage ball section of thick bamboo 202 wears out in opening 10, the multidirectional motion of receiver 2 needs to guarantee that storage ball section of thick bamboo 202 can not collide with opening 10 inner wall.
Embodiment III:
On the basis of the first embodiment, further description is provided, the ball receiving box 2 and the motion part of the multi-axis manipulator 3 are detachably and fixedly connected in a threaded manner through the connecting rod 11, the connecting rod 11 can select the shape of the adaptive environment according to the position of the ball receiving box 2, the ball receiving box 2 is beneficial to having a larger motion range, the upper parts of the two side walls inside the groove 4 are respectively provided with the movable groove 12, the pressure sensor 6 is arranged at the bottom end face inside the movable groove 12, the pressure sensor 6 is electrically connected with the control module 102, the power supply end of the pressure sensor 6 is connected with an external power supply, the two side end faces of the air pushing expansion layer 5 are respectively provided with the anti-falling movable block 13, the anti-falling movable block 13 is movably inserted inside the movable groove 12, the supporting spring 14 is arranged between the pressure sensor 6 and the insertion part of the anti-falling movable block 13, the supporting spring 14 can transmit the downward pressure transmitted by the anti-falling movable block 13, the anti-falling movable block 13 can be limited in the movable groove 12, and the deformation force generated after the air pushing expansion layer 5 is impacted by the shuttlecock is indirectly transmitted to the pressure sensor 6 through the anti-falling movable block 13 and the supporting spring 14.
The air pushing expansion layer 5 is of an inclined design, the inclined surface faces towards the cover ball guide cover 8 after overturning, the blocking expansion layer 15 is arranged in the upper area of the air pushing expansion layer 5, the blocking expansion layer 15 is made of elastic rubber, the deformation of the blocking expansion layer 15 is superior to that of the air pushing expansion layer 5, the bottom end face inside the groove 4 vertically penetrates through the sleeve inner spring 16, the inner spring 16 of the sleeve is slidably provided with the steel spring 17 connected with the bottom end face of the air pushing expansion layer 5, the bottom end face of the steel spring 17 is fixedly connected with the spring on the inner spring 16 of the sleeve, the spring generates a downward pulling force on the steel spring 17, after the groove 4 is filled with air to drive the air pushing expansion layer 5 to expand, as shown in fig. 4, the blocking expansion layer 15 expands upwards and blocks the shuttlecock to move towards the side wall of the ball receiving box 2 near the groove 4, meanwhile the steel spring 17 bends along with the air pushing expansion layer 5, and after the air flowing inside the groove 4 stops, the inner spring 16 of the sleeve generates a downward pulling force on the steel spring 17, so that the air pushing expansion layer 5 is restored, and the shuttlecock falls down to be ready for circulation.
Embodiment four:
On the basis of the first embodiment, an air cavity 18 is further arranged in the right side wall inside the ball receiving box 2, the air cavity 18 is respectively communicated with the groove 4 and the main air blowing hole 7, the air cavity 18 surrounds the funnel-shaped opening side periphery of the ball receiving box 2 in a major arc track, a sealing plate 19 is movably arranged inside the air cavity 18 and is used for temporarily sealing the main air blowing hole 7, a rubber plug is arranged on the upper end face of the sealing plate 19, when the rubber plug moves upwards, the main air blowing hole 7 can be temporarily sealed, a reset spring top club 20 is arranged on the upper portion of the sealing plate 19 and penetrates through the right side wall inside the ball receiving box 2 in a sliding mode, a vertical perforation is preset in the upper portion of the top wall of the air cavity 18, the reset spring top club 20 penetrates through the perforation in a sliding mode, the reset spring top club 20 is composed of an upper top ball and a lower spring sleeve rod, a cover ball guiding cover 8 is arranged on the upper portion of the ball receiving box 2 in an arc cover structure, and after the ball guiding cover 8 is turned over to cover the ball receiving box 2, the outer arc surface of the cover ball guiding cover 8 can push the reset spring top club 20 to move downwards and enable the main air blowing hole 7 to be communicated with the main air blowing hole 7.
The inside cavity structure that is of cover ball direction lid 8, and cavity structure both sides all run through in cover ball direction lid 8 both sides port, when cover ball direction lid 8 covers ball receiving box 2, its cavity right side gas outlet side is inclined towards on the inside right side wall of ball receiving box 2, and cavity left side and first air receiving head are connected, and vice gas pocket 9 and cavity structure are linked together, the air supply subassembly is including setting up the air supply pump 21 at movable seat 1 up end, the air supply pump 21 air outlet side is linked together through main pneumatic valve 22 respectively, vice pneumatic valve 301 and recess 4 inlet port and cover ball direction lid 8 cavity structure first air receiving head and is linked together and set up, main pneumatic valve 22, vice pneumatic valve 301 is the automatically controlled pneumatic valve, main pneumatic valve 22, vice pneumatic valve 301 control end and control module 102 are connected, the upset subassembly is including setting up the servo motor 23 in ball receiving box 2 lateral wall upper portion, servo motor 23 output shaft end is through shaft coupling and cover ball direction lid 8 installation department fixed connection, cover ball direction lid 8 left side is the board structure, and level board bottom face rear side has installation department, servo motor 23 output shaft end's fixed angle rotation can carry out reciprocal round ball direction to cover ball direction 8 accurate circulation.
The ball receiving box 2 below is around the fixed guide rail balling iron 24 that is in the frame structure in the ball discharging pipe 201 outside, guide rail balling iron 24 is in the frame structure, and guide rail balling iron 24 inner wall both sides all are equipped with the slide groove, be provided with electric telescopic handle 25 along horizontal vertical on the guide rail balling iron 24, electric telescopic handle 25 control end and control module 102 electric connection, the last detachable cooperation slip of guide rail balling iron 24 is provided with at least three ball storage section of thick bamboo 202, the both sides surface of ball storage section of thick bamboo 202 has all welded the slider, slider and slide groove cooperation slip, and fix a position fixedly through the connecting plate 26 with bolted connection mode between the ball storage section of thick bamboo 202, electric telescopic handle 25 flexible end is fixed to be set up on connecting plate 26, the proximity switch that is not shown has in the inside embedding of ball discharging pipe 201, proximity switch and control module 102 electric connection, be used for counting the number of falling down, when electric telescopic handle 25 flexible end carries out telescopic motion, can in time change ball storage section of thick bamboo 202 below ball discharging pipe 201.
The working principle is as follows: when the shuttlecock falls down in a parabolic motion track, the image acquisition module 101 identifies and tracks the motion track of the shuttlecock, meanwhile, positions the self position of the movable seat 1, and transmits measured track data to the control module 102, the control module 102 calculates the position of the falling point of the shuttlecock through conversion, the control module 102 drives the shuttlecock to rapidly move to the position where the shuttlecock falls down under the driving wheel at the bottom of the movable seat 1, meanwhile, the multi-axis manipulator 3 is started, the multi-axis manipulator 3 carries out secondary adjustment on the azimuth of the shuttlecock box 2, so that the shuttlecock accurately falls into the shuttlecock box 2 and collides with the air pushing expansion layer 5, the air pushing expansion layer 5 transmits collision force to the pressure sensor 6 through the anti-falling movable block 13 and the supporting spring 14 in sequence, the pressure sensor 6 transmits the pressure signal to the control module 102 after receiving the pressure signal, the control module 102 firstly drives the main air valve 22 and the air source pump 21 to be opened, meanwhile, the output shaft end of the servo motor 23 is driven to work, the cover ball guide cover 8 is driven to overturn and cover the upper opening of the ball abutting box 2, the overturned cover ball guide cover 8 and the pushing movement of the reset spring top club 20 drive the sealing plate 19 to move downwards, so that the main air blowing hole 7 and the air cavity 18 are in a communicated state, the air source pump 21 sucks outside air and discharges the outside air into the groove 4 through the main air valve 22, the air flowing into the groove 4 sequentially expands the air pushing expansion layer 5 and the blocking expansion layer 15 outwards, the fallen shuttlecock is sprung towards the middle position of the cover ball guide cover 8 under the reverse thrust of the air pushing expansion layer 5 and the limit of the blocking expansion layer 15, the control module 102 sequentially starts the auxiliary air valve 301, the air source pump 21 discharges air through the main air blowing hole 7 end communicated with the auxiliary air blowing hole 9 and the air cavity 18 on the cover ball guide cover 8, the quick gas discharged through the auxiliary blowing hole 9 leads the shuttlecock sprung by the air pushing expansion layer 5 to slide down in the area above the main blowing hole 7 along the inner surface of the cover ball guiding cover 8, the air discharged by the main blowing hole 7 sequentially pushes the shuttlecock into the volleyball pipe 201 and the ball storage barrel 202 for temporary collection, the air source pump 21 is closed after the shuttlecock is collected, the rigid elastic sheet 17 on the spring 16 in the sleeve pulls the air pushing expansion layer 5 to reset, after the shuttlecock inside the ball storage barrel 202 is fully collected, the telescopic end of the electric telescopic rod 25 moves and replaces the ball storage barrel 202 under the action of the connecting plate 26, and the shuttlecock falling into the ball receiving box 2 is automatically tidied conveniently.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (7)
1. The utility model provides a domestic accompanying robot of multiaxis control, includes and removes seat (1) and sets up image acquisition module (101), control module (102) and the ball receiving box (2) of upper portion respectively, control module (102) acquire badminton motion track information through image acquisition module (101) and after handling, drive on moving seat (1) drive wheel makes ball receiving box (2) be located badminton landing position in advance, its characterized in that: the ball receiving device is characterized in that a multiaxial manipulator (3) is arranged on the upper end face of the movable seat (1), a movement part of the multiaxial manipulator (3) and the ball receiving box (2) are detachably and fixedly arranged, the bottom end face of an opening part at the upper part of the ball receiving box (2) is of a funnel-shaped structure, a ball discharging pipe (201) is arranged at the bottom of the funnel-shaped structure in a communicating mode, a ball storage cylinder (202) is arranged at the lower part of the ball discharging pipe (201), a groove (4) is formed in the bevel edge part of one side of the inner wall of the ball receiving box (2), an air pushing expansion layer (5) is movably arranged at the upper part of the inner wall of the groove (4), and a pressure sensor (6) is arranged at the connecting part of the air pushing expansion layer (5) on the inner wall of the groove (4);
Main blowing holes (7) communicated with the groove (4) are distributed on the other opposite side wall inside the ball receiving box (2), a cover ball guide cover (8) is arranged on the upper end face of the movable seat (1) through the matching of a turnover component, auxiliary blowing holes (9) are distributed on the inner wall of the cover ball guide cover (8), the ball receiving box (2) enables a falling badminton to fall on the outer surface of the air pushing expansion layer (5) under the matching of the motion of the movable seat (1) and the multi-axis manipulator (3), an air source component is arranged on the movable seat (1) and is communicated with the groove (4) and the auxiliary blowing holes (9) in sequence, the pressure sensor (6) detects that the air pushing expansion layer (5) is impacted by the badminton, the turnover component and the air source component are sequentially driven by the data processing of the control module (102), the turnover component drives the cover ball guide cover (8) to cover the upper opening of the ball receiving box (2), the air source component sequentially sucks air into and discharges the air into the groove (4), the main blowing holes (7) and the auxiliary blowing holes (9), the air inside the groove (4) enables the air pushing expansion layer (7) to blow down towards the top wall (8) of the air blowing holes (9) to be blown out of the air guide cover (8) in sequence, and the air source component is blown into the middle part of the air blowing layer (7) after the badminton is blown into the air guide layer (9) to blow down by the ball guide layer (5) in sequence, the head of the dropped shuttlecock is guided and sequentially falls into the ball discharging tube (201) and the ball storage tube (202).
2. The multi-axis controlled home practice robot of claim 1 wherein: the image acquisition module (101) comprises an electric lifting rod and a visual tracking camera, the control module (102) comprises a PLC integrated controller, an opening part (10) is formed in the middle of the upper end face of the movable seat (1), the ball receiving box (2) is located above the opening part (10), and the ball storage barrel (202) penetrates through the opening part (10).
3. The multi-axis controlled home practice robot of claim 1 wherein: the ball receiving box (2) is detachably and fixedly connected with the movement part of the multi-axis manipulator (3) through the connecting rod (11), movable grooves (12) are formed in the upper parts of two inner side walls of the groove (4), the pressure sensor (6) is arranged on the bottom end face inside the movable grooves (12), anti-falling movable blocks (13) are arranged on the end faces on two sides of the air pushing expansion layer (5), the anti-falling movable blocks (13) are movably inserted into the movable grooves (12), supporting springs (14) are arranged between the pressure sensor (6) and the insertion part of the anti-falling movable blocks (13), and deformation force generated after the air pushing expansion layer (5) is impacted by shuttlecocks is indirectly transmitted to the pressure sensor (6) through the anti-falling movable blocks (13) and the supporting springs (14).
4. The multi-axis controlled home practice robot of claim 3 wherein: the air pushing expansion layer (5) is of an inclined design, the upper area of the air pushing expansion layer (5) is provided with a blocking expansion layer (15), the inner bottom end face of the groove (4) vertically penetrates through the sleeve inner spring (16), the inner spring (16) is slidably provided with a rigid elastic sheet (17) connected with the bottom end face of the air pushing expansion layer (5), after the air pushing expansion layer (5) is inflated inside the groove (4), the blocking expansion layer (15) is inflated upwards, and the shuttlecock is blocked to move towards the side wall of the ball receiving box (2) close to the groove (4), meanwhile, the rigid elastic sheet (17) bends along with the air pushing expansion layer (5), and after air flowing inside the groove (4) stops, the sleeve inner spring (16) generates a downward pulling force on the rigid elastic sheet (17), so that the air pushing expansion layer (5) is restored.
5. The multi-axis controlled home practice robot of claim 1 wherein: be equipped with air cavity (18) in another inside relative lateral wall of ball receiving box (2), air cavity (18) are linked together with recess (4), main gas vent (7) respectively and are set up, inside activity of air cavity (18) is provided with sealing plate (19) and is used for sealing main gas vent (7) temporarily, and sealing plate (19) upper portion is provided with reset spring top club (20) and slides and run through on another inside relative lateral wall of ball receiving box (2), cover ball guiding cover (8) are located ball receiving box (2) top position and are arc cover structure, and cover ball guiding cover (8) upset is covered back to ball receiving box (2), and cover ball guiding cover (8) extrados can promote reset spring top club (20) and move down and make sealing plate (19) and main gas vent (7) separation.
6. The multi-axis controlled home practice robot of claim 1 wherein: the ball cover guiding cover (8) is of a cavity structure inside, the auxiliary air blowing hole (9) is communicated with the cavity structure, the air source assembly comprises an air source pump (21) arranged on the upper end face of the movable seat (1), the air outlet side of the air source pump (21) is respectively communicated with the air inlet part of the groove (4) and the cavity structure of the ball cover guiding cover (8) through a main air valve (22) and an auxiliary air valve (301), the overturning assembly comprises a servo motor (23) arranged on the upper portion of the outer side wall of the ball receiving box (2), and the output shaft end of the servo motor (23) is fixedly connected with the mounting part of the ball cover guiding cover (8) through a coupler.
7. The multi-axis controlled home practice robot of claim 1 wherein: the ball receiving box is characterized in that a guide rail sliding frame (24) is fixedly arranged below the ball receiving box (2) around the outer side of the ball discharging pipe (201), an electric telescopic rod (25) is longitudinally arranged on the guide rail sliding frame (24) along the horizontal direction, at least three ball storage cylinders (202) are detachably matched and slidably arranged on the guide rail sliding frame (24), the ball storage cylinders (202) are fixedly positioned through connecting plates (26), telescopic ends of the electric telescopic rod (25) are fixedly arranged on the connecting plates (26), and when the telescopic ends of the electric telescopic rod (25) perform telescopic motion, the ball storage cylinders (202) below the ball discharging pipe (201) can be replaced.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104874164A (en) * | 2015-05-06 | 2015-09-02 | 芜湖林一电子科技有限公司 | Visual tracking badminton training partner robot |
| CN104958884A (en) * | 2015-05-06 | 2015-10-07 | 芜湖林一电子科技有限公司 | Badminton receiving device based on machine vision tracking |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120006167A (en) * | 2010-07-12 | 2012-01-18 | 유종 | Badminton Exercise Device |
| CN106730717A (en) * | 2016-12-19 | 2017-05-31 | 绍兴凯健科技有限公司 | A kind of badminton companion trainer device people |
| CN210384747U (en) * | 2019-07-25 | 2020-04-24 | 湖南文理学院 | A training ground badminton collection device |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104874164A (en) * | 2015-05-06 | 2015-09-02 | 芜湖林一电子科技有限公司 | Visual tracking badminton training partner robot |
| CN104958884A (en) * | 2015-05-06 | 2015-10-07 | 芜湖林一电子科技有限公司 | Badminton receiving device based on machine vision tracking |
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