CN109847301B - Table tennis robot - Google Patents
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- CN109847301B CN109847301B CN201910038156.1A CN201910038156A CN109847301B CN 109847301 B CN109847301 B CN 109847301B CN 201910038156 A CN201910038156 A CN 201910038156A CN 109847301 B CN109847301 B CN 109847301B
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Abstract
The application provides a table tennis robot, it includes: the first linear motion module, the second linear motion module and the ball hitting assembly are arranged on the base; the first linear motion module and the second linear motion module are arranged in parallel; the first end of the ball hitting component is hinged to the first linear motion module, the second end of the ball hitting component is hinged to the second linear motion module, and the third end of the ball hitting component is used for hitting balls; the first linear motion module and the second linear motion module drive the ball hitting component to move on a plane parallel to the ping-pong table. The first linear motion module and the second linear motion module that this application set up along the length direction parallel arrangement of table tennis table in the both sides of table tennis table, and first linear motion module and second linear motion module drive the batting subassembly and move on the plane parallel with the table tennis table, and batting subassembly adjustment racket reaches required position, inclination and batting speed in vertical direction, can realize great motion range, higher moving speed.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a table tennis robot.
Background
The table tennis robot is a robot capable of playing table tennis with human beings. The existing table tennis robot mainly has the following two modes: 1) a five-freedom parallel mechanical arm is hung upside down and fixed above a table tennis table, and the tail end of the parallel mechanical arm is connected with a racket. 2) The first degree of freedom of the six-degree-of-freedom series robot is that the robot makes linear translation motion along the width direction of the ping-pong table.
Generally, in the case of the same specification, the motion space of the parallel robot is much smaller than that of the serial robot, and therefore, the motion range of the first table tennis robot is very limited. Although the second ping-pong robot has a sufficiently large range of motion in the width direction of the ping-pong table, the second ping-pong robot has a very small range of motion in the length direction of the ping-pong table; and the parallel robot has very slow movement speed and cannot receive table tennis balls with high ball speed.
Disclosure of Invention
To overcome the problems in the related art at least to some extent, the present application provides a table tennis robot capable of achieving a large range of motion and a high speed of motion.
According to an aspect of an embodiment of the present application, there is provided a table tennis robot including: the first linear motion module, the second linear motion module and the ball hitting assembly are arranged on the base;
the first linear motion module and the second linear motion module are arranged in parallel;
the first end of the ball hitting component is hinged to the first linear motion module, the second end of the ball hitting component is hinged to the second linear motion module, and the third end of the ball hitting component is used for hitting balls;
the first linear motion module and the second linear motion module drive the ball hitting assembly to move on a plane parallel to the table tennis table.
The table tennis robot comprises a first linear motion module, a second linear motion module and a third linear motion module, wherein the first linear motion module comprises a first motor, a first linear sliding table and a first sliding block, the first sliding block is arranged on the first linear sliding table, and the first motor drives the first sliding block to do linear translational motion on the first linear sliding table through the first linear sliding table;
the second linear motion module comprises a second motor, a second linear sliding table and a second sliding block, the second sliding block is arranged on the second linear sliding table, and the second motor drives the second sliding block to move linearly and translationally on the second linear sliding table.
According to the table tennis robot, the first linear sliding table and the second linear sliding table are parallel to the central line of the table tennis table in the length direction.
The table tennis robot as described above, the ball striking component comprising first to fourth links, an electric putter, a first joint, a second joint, a racket shaft, and a racket;
one end of the first connecting rod is hinged with the first sliding block, one end of the second connecting rod is hinged with the second sliding block, and the other end of the first connecting rod and the other end of the second connecting rod are hinged with the fixed end of the electric push rod;
one end of the third connecting rod is hinged with the first sliding block, the other end of the third connecting rod is hinged with one end of the fourth connecting rod, and the other end of the fourth connecting rod is fixedly connected with the fixed end of the electric push rod;
the output end of the electric push rod is connected with the fixed end of the first joint, and the output end of the first joint is connected with the fixed end of the second joint; the output end of the second joint is connected with the racket through the racket rod.
According to the table tennis robot, the first sliding block, the first connecting rod, the third connecting rod and the fourth connecting rod form a parallelogram.
According to the table tennis robot, the length of the first connecting rod, the length of the second connecting rod and the length of the third connecting rod are equal.
The ping-pong robot as described above, the sum of the minimum length of the first connecting rod and the length of the racket bar is equal to the width of the ping-pong table.
According to the table tennis robot, the length of the first linear sliding table extending into one side of the table tennis table and the length of the second linear sliding table extending into the other side of the table tennis table are set according to the hitting range which can be reached by the hitting component.
When the ball hitting range which can be reached by the ball hitting component is full coverage of the table tennis table, the length of the first linear sliding table extending into one side of the table tennis table and the length of the second linear sliding table extending into the other side of the table tennis table are both half of the length of the table tennis table.
The table tennis robot further comprises a visual support, the visual support is arranged on two sides of the table tennis table in a spanning mode along the width direction of the table tennis table, and a camera is arranged on the visual support and used for collecting moving images of the table tennis.
According to the above embodiments of the present application, at least the following advantages are obtained: this application table tennis robot is through setting up first linear motion module, second linear motion module and batting subassembly, the length direction parallel arrangement of first linear motion module and second linear motion module along the table tennis table is in the both sides of table tennis table, first linear motion module and second linear motion module drive batting subassembly and move on the plane parallel with the table tennis table, the position that batting subassembly adjustment racket can reach in the vertical direction, inclination and batting speed, this application table tennis robot can realize great motion range, higher moving speed.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification of the application, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural diagram of an initial state of a table tennis robot according to an embodiment of the present disclosure.
Fig. 2 is a plan view of the table tennis robot shown in fig. 1 in an initial state.
Fig. 3 is a schematic structural diagram of a table tennis robot in a use state according to an embodiment of the present application.
Fig. 4 is an enlarged view of a portion of a ball striking assembly of a table tennis robot according to an embodiment of the present disclosure.
Description of reference numerals:
1. a first linear motion module; 11. a first linear sliding table; 12. a first slider; 2. a second linear motion module; 21. a second linear sliding table; 22. a second slider; 3. a ball striking assembly; 31. a first link; 32. a second link; 33. a third link; 34. a fourth link; 35. an electric push rod; 36. a first joint; 37. a second joint; 38. a racket shaft; 39. a racket; 4. a vision support; 41. a camera.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
Fig. 1 is a schematic structural diagram of an initial state of a table tennis robot according to an embodiment of the present disclosure, and fig. 2 is a top view of fig. 1. As shown in fig. 1 and 2, the table tennis robot includes a first linear motion module 1, a second linear motion module 2 and a ball hitting component 3, the first linear motion module 1 and the second linear motion module 2 are arranged in parallel, a first end and a second end of the ball hitting component 3 are respectively and correspondingly hinged on the first linear motion module 1 and the second linear motion module 2, and a third end of the ball hitting component 3 is used for hitting balls. The first linear motion module 1 and the second linear motion module 2 drive the ball hitting component 3 to move on a plane parallel to the table tennis table, so as to complete the ball hitting action.
In the present embodiment, the first linear motion module 1 and the second linear motion module 2 employ the same components and structures. Specifically, the first linear motion module 1 includes a first motor (not shown in the figure),
First straight line slip table 11 and first slider 12, first slider 12 set up on first straight line slip table 11, and first motor drives first slider 12 through first straight line slip table 11 and is the linear translation motion on first straight line slip table 11.
The second linear motion module 2 includes a second motor (not shown in the figure), a second linear sliding table 21 and a second sliding block 22, the second sliding block 22 is disposed on the second linear sliding table 21, and the second motor drives the second sliding block 22 to perform linear translational motion on the second linear sliding table 21 through the second linear sliding table 21.
During the use, first linear motion module 1 and second linear motion module 2 parallel arrangement are in the both sides of table tennis table, and just first linear sliding table 11 and second linear sliding table 21 all are parallel with table tennis table length direction's central line.
The ball striking assembly 3 includes a first link 31, a second link 32, a third link 33, a fourth link 34, an electric putter 35, a first joint 36, a second joint 37, a paddle shaft 38, and a paddle 39.
One end of the first link 31 is hinged with the first slider 12, one end of the second link 32 is hinged with the second slider 22, and the other end of the first link 31, the other end of the second link 32 and the fixed end of the electric push rod 35 are hinged together.
One end of the third connecting rod 33 is hinged with the first sliding block 12, the other end thereof is hinged with one end of the fourth connecting rod 34, and the other end of the fourth connecting rod 34 is fixedly connected with the fixed end of the electric push rod 35. Thus, the first slider 12, the first link 31, the third link 33, and the fourth link 34 form a parallelogram. Since the direction of the connecting line of the hinge points of the first link 31 and the third link 33 on the first slider 12 is kept constant, and the fourth link 34 is parallel to the connecting line, the direction of the electric putter 35 can be kept constant during the movement of the ball striking component 3.
It can be understood that, when the first motor drives the first slider 12 to do linear translational motion on the first linear sliding table 11 through the first linear sliding table 11, and the second motor drives the second slider 22 to do linear translational motion on the second linear sliding table 21 through the second linear sliding table 21, the first slider 12 and the second slider 22 can drive the hinge point of the first connecting rod 31, the second connecting rod 32 and the electric push rod 35 to reach any position above the table tennis table and on the plane parallel to the table tennis table. By adopting the structure, the table tennis robot can realize large-range movement in the horizontal plane.
As shown in fig. 4, the output end of the electric push rod 35 is connected to the fixed end of the first joint 36, and the output end of the first joint 36 is connected to the fixed end of the second joint 37. The output end of the second joint 37 is connected to a racket 39 through a racket shaft 38. It will be appreciated that the telescopic movement of the power putter 35 may move the racket 39 in a vertical direction. The output end of the first joint 36 is free to rotate, and the rotation provides the speed of the table tennis table in the length direction required for hitting the ball. The second joint 37 can adjust the inclination angle of the racket 39 to better complete the batting action.
In this embodiment, to ensure that the hinge point of the first link 31, the second link 32 and the electric putter 35 driven by the first slider 12 and the second slider 22 can reach any position on the plane parallel to the table tennis table above the table tennis table, the sum of the minimum length of the first link 31 and the length of the racket bar 38 is equal to the width of the table tennis table, and the length of the first link 31, the length of the second link 32 and the length of the third link 33 are equal.
In the embodiment, the length of the first linear sliding table 11 extending into one side of the table tennis table and the length of the second linear sliding table 21 extending into the other side of the table tennis table are set according to the hitting range of the hitting component 3.
For example, when the hitting range of the hitting component 3 is full coverage of the table tennis table, the length of the first linear sliding table 11 extending into one side of the table tennis table and the length of the second linear sliding table 21 extending into the other side of the table tennis table are both half of the length of the table tennis table, that is, the top end of the first linear sliding table 11 and the top end of the second linear sliding table 21 both reach the position on the straight line where the net on the table tennis table is located, the sum of the length of the first connecting rod 31 and the length of the racket rod 38 is greater than the width of the table tennis table, and the length of the first connecting rod 31 is equal to the length of the second connecting rod 32.
For another example, when the hitting range that the hitting component 3 can reach is half of a table tennis table, the length of the first linear sliding table 11 extending into one side of the table tennis table and the length of the second linear sliding table 21 extending into the other side of the table tennis table are 1/4 equal to the length of the table tennis table, that is, the top end of the first linear sliding table 11 and the top end of the second linear sliding table 21 both reach the position on the straight line where the midpoint between the net on the table tennis table and the one end of the table tennis table where the hitting component 3 is located, the sum of the length of the first connecting rod 31 and the length of the racket rod 38 is greater than the width of the table tennis table, and the length of the first connecting rod 31 is equal to the length of the second connecting rod 32.
In this embodiment, the table tennis robot further comprises a vision support 4, and a camera 41 is disposed on the vision support 4. Specifically, two cameras 41 are provided, and the two cameras 41 are symmetrically arranged with a center line of the table tennis table in the length direction as a symmetry axis. When the table tennis robot is used, the vision support 4 is arranged on two sides of the table tennis table along the width direction of the table tennis table in a spanning manner, and specifically, is arranged on two sides of a net on the table tennis table along the width direction of the table tennis table in a spanning manner. When the robot of the table tennis robot works, the camera 41 is used for collecting the moving image of the table tennis, predicting the motion track of the table tennis by using a prediction algorithm, calculating a hitting point and hitting the ball.
In this embodiment, the hitting position and posture of the table tennis robot shown in fig. 3 are taken as an example, and the process of the hitting motion of the table tennis robot is described as follows:
the initial position of the ping-pong robot is shown in fig. 1, the bat surface of the bat 39 is parallel to the vertical direction and is vertical to the width direction of the ping-pong table; the first slide block 12 is positioned at the center of the top surface of the first linear sliding table 11, and the second slide block 22 is positioned at the center of the top surface of the second linear sliding table 21; the projection of the hinge point of the first connecting rod 31 and the second connecting rod 32 on the ping-pong table is positioned on the central line of the length direction of the ping-pong table.
The table tennis robot collects images of table tennis balls after the table tennis balls leave the racket 39 through the camera 41, identifies the motion tracks of the table tennis balls in the images through an image identification algorithm, predicts the foot falling points of the table tennis balls through a track prediction algorithm, and calculates the hitting points. The robot of the table tennis machine controls the ball hitting component 3 to move, and controls the bat 39 to reach a required position above the table tennis table and in a plane parallel to the table tennis table through the movement of the first connecting rod 31, the second connecting rod 32, the first slide block 12 and the second slide block 22; the racket 39 is controlled to reach the required position in the vertical direction through the electric push rod 35; the inclination angle of the racket 39 is adjusted by the second joint 37, and the rotation of the first joint 36 provides the required hitting speed of the racket 39, thereby completing the hitting action.
After one batting action is finished, the table tennis robot returns to the initial position shown in fig. 1 again to wait for finishing the next batting action.
The motion control racket 39 of this application table tennis robot through first connecting rod 31, second connecting rod 32, first slider 12 and second slider 22 moves in the plane parallel with the table tennis table, compares with current X direction motion series Y direction motion or two articulated plane motion processing modes of connecting rod, under the same drive power condition, this application table tennis robot can realize higher velocity of motion.
In the existing plane motion processing mode, the fact that the motion in the X direction is connected with the motion in the Y direction in series means that the motion module in the Y direction is a load in the X direction, and then the driving force required by the motion module in the X direction is very large, so that the motion speed is lower than that of the table tennis robot under the condition of the same power. The articulation of the two links from one position to the other is a circular rotation of the two links about their respective articulation points, one link is similarly loaded by the other link, and the path of movement is an arc. The motion route of the table tennis robot is a straight line, and the condition of increasing the load is avoided, so that the table tennis robot moves from one point to another point naturally faster under the same power.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (8)
1. A table tennis robot, comprising:
the first linear motion module comprises a first motor, a first linear sliding table and a first sliding block, the first sliding block is arranged on the first linear sliding table, and the first motor drives the first sliding block to do linear translation motion on the first linear sliding table through the first linear sliding table;
the second linear motion module comprises a second motor, a second linear sliding table and a second sliding block, the second sliding block is arranged on the second linear sliding table, and the second motor drives the second sliding block to perform linear translation motion on the second linear sliding table through the second linear sliding table;
a ball striking component comprising first through fourth links, an electric putter, a first joint, a second joint, a racket shaft, and a racket; one end of the first connecting rod is hinged with the first sliding block, one end of the second connecting rod is hinged with the second sliding block, and the other end of the first connecting rod and the other end of the second connecting rod are hinged with the fixed end of the electric push rod; one end of the third connecting rod is hinged with the first sliding block, the other end of the third connecting rod is hinged with one end of the fourth connecting rod, and the other end of the fourth connecting rod is fixedly connected with the fixed end of the electric push rod; the output end of the electric push rod is connected with the fixed end of the first joint, and the output end of the first joint is connected with the fixed end of the second joint; the output end of the second joint is connected with the racket through the racket rod;
the first linear motion module and the second linear motion module are arranged in parallel;
the first end of the ball hitting component is hinged to the first linear motion module, the second end of the ball hitting component is hinged to the second linear motion module, and the third end of the ball hitting component is used for hitting balls;
the first linear motion module and the second linear motion module drive the ball hitting assembly to move on a plane parallel to the table tennis table.
2. The table tennis robot of claim 1, wherein the first linear slide and the second linear slide are both parallel to a center line of the table tennis table in a length direction.
3. The table tennis robot of claim 1, wherein the first slider, the first link, the third link, and the fourth link form a parallelogram.
4. The table tennis robot of claim 1, wherein the first link, the second link, and the third link are all equal in length.
5. The ping-pong robot of claim 4, wherein a sum of a minimum length of the first link and a length of the paddle bar is equal to a width of the ping-pong table.
6. The table tennis robot of any one of claims 1 to 5, wherein a length of the first linear sliding table extending into one side of the table tennis table and a length of the second linear sliding table extending into the other side of the table tennis table are set according to a hitting range that can be reached by the hitting component.
7. The table tennis robot of claim 6, wherein the hitting range of the hitting component is a full-coverage range of the table tennis table, and the length of the first linear sliding table extending into one side of the table tennis table and the length of the second linear sliding table extending into the other side of the table tennis table are both half of the length of the table tennis table.
8. The ping-pong robot as claimed in any one of claims 1 to 5, further comprising a vision bracket, wherein the vision bracket spans two sides of the ping-pong table along the width direction of the ping-pong table, and a camera is arranged on the vision bracket and used for collecting the motion image of the ping-pong ball.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910038156.1A CN109847301B (en) | 2019-01-16 | 2019-01-16 | Table tennis robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910038156.1A CN109847301B (en) | 2019-01-16 | 2019-01-16 | Table tennis robot |
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| CN109847301A CN109847301A (en) | 2019-06-07 |
| CN109847301B true CN109847301B (en) | 2020-11-27 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111546332A (en) * | 2020-04-23 | 2020-08-18 | 上海电机学院 | Table tennis robot system based on embedded equipment and application |
| CN111283700B (en) * | 2020-05-11 | 2020-08-14 | 上海庞勃特科技有限公司 | Table tennis service robot, table tennis service method and computer-readable storage medium |
| CN112657159A (en) * | 2020-12-10 | 2021-04-16 | 上海理工大学 | Percussion ball integration table tennis robot based on two arm platforms |
| CN114750231B (en) * | 2022-04-25 | 2024-02-06 | 淮阴工学院 | Pleurotus eryngii root cutting device and cutting track control method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2391535A (en) * | 2002-08-07 | 2004-02-11 | John Michael Brennan | H-shaped slider system |
| DE202012001494U1 (en) * | 2012-02-14 | 2012-02-28 | Heinz Kettler Gmbh & Co. Kg | Holding device for a net of a table tennis device |
| CN104383678B (en) * | 2014-12-03 | 2016-08-24 | 湘潭大学 | A kind of snooker robot |
| CN205630666U (en) * | 2016-04-13 | 2016-10-12 | 郑州三晖电气股份有限公司 | Double track numerical control crossbeam formula manipulator |
| CN106426200B (en) * | 2016-10-14 | 2018-09-18 | 深圳四博智联科技有限公司 | A kind of ping-pong robot and its control method |
| CN206965069U (en) * | 2017-07-10 | 2018-02-06 | 燕山大学 | Rail type table tennis practice device |
| CN207679990U (en) * | 2017-12-20 | 2018-08-03 | 郭康宁 | Table tennis companion trainer |
| CN109015682B (en) * | 2018-08-23 | 2023-03-10 | 上海创屹科技有限公司 | Table tennis robot |
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Effective date of registration: 20210910 Address after: 257 jinzang Road, Pudong New Area, Shanghai, 201206 Patentee after: Shanghai Chuangyi Technology Co.,Ltd. Address before: Room 101, 201, West, building 11, No. 351 jinzang Road, Pudong New Area, Shanghai Patentee before: SIASUN Co.,Ltd. |
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Denomination of invention: A table tennis robot Granted publication date: 20201127 Pledgee: Industrial Bank Co.,Ltd. Shanghai Branch Pledgor: Shanghai Chuangyi Technology Co.,Ltd. Registration number: Y2024310000016 |
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