Mechanical arm and table tennis robot with same

A technology of mechanical arms and robots, applied in the field of robotics, can solve problems such as slow movement speed and slow hitting speed, and achieve the effect of increasing movement speed and reducing mass

Active Publication Date: 2018-11-23
上海创屹科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to provide a kind of mechanical arm and the table tennis robot with it, to solve the technical problems of the table tennis robot in the prior art that the moving speed is slow and the hitting speed is slow

Method used

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  • Mechanical arm and table tennis robot with same
  • Mechanical arm and table tennis robot with same
  • Mechanical arm and table tennis robot with same

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0065] figure 1 A schematic diagram of the structure of the robotic arm provided by the embodiment of the present invention at a viewing angle, figure 2 For a schematic view of the structure of the robotic arm provided by the embodiment of the present invention at a viewing angle, please refer to figure 1 , 2 As shown, this embodiment provides a mechanical arm, the mechanical arm 1 includes a first driving joint 11, a second driving joint 12, a third driving joint 13, a linkage structure 14, a fourth driving joint 15 and an end effector 16 , the first driving joint 11 is connected to the second driving joint 12, the linkage structure 14 is connected to the first driving joint 11 and the second driving joint 12, and the third driving joint 13 is connected to the The linkage structure 14 is connected, the fourth driving joint 15 is connected with the third driving joint 13, the end effector 16 is connected with the fourth driving joint 15, the first driving joint 11, the th...

Embodiment 2

[0077] Figure 6 It is a schematic diagram of the partial structure of the synchronous movement assembly of the mechanical arm provided by the embodiment of the present invention, Figure 7 For the schematic diagram of the local structure of the synchronous motion assembly of the mechanical arm provided by the embodiment of the present invention, please refer to Figure 6 , 7 As shown, this embodiment has a similar overall structure to Embodiment 1, the difference is that this embodiment provides another structural form of the synchronous drive assembly.

[0078] In this embodiment, the synchronous drive assembly includes a synchronous belt 1218, a fourth synchronous wheel 1219, a fifth synchronous wheel 1220, a second tensioning wheel 1221, a first gear 1222 and a second gear 1223, and the fourth synchronous wheel 1219 is fixed on the output end of the second driving joint 12, the fifth synchronous wheel 1220 is connected to the fourth synchronous wheel 1219 through the syn...

Embodiment 3

[0080] Figure 8 For the structural representation of the state of use of the table tennis robot provided by the embodiment of the present invention, please refer to figure 1 , 8 As shown, the present embodiment provides a table tennis robot, the table tennis robot includes a linear motion module 2 and a mechanical arm 1, the linear motion module 2 includes a linear drive structure and a linear slide rail 21, the mechanical arm 1 is connected with the linear drive structure, and the linear drive structure is used to drive the mechanical arm 1 to move along the linear slide rail 21, wherein, when the table tennis robot is in use, the linear slide rail 21 and the table tennis robot The middle line of the ball table 3 is parallel to the longitudinal direction; the mechanical arm 1 is the mechanical arm described in the first embodiment or the second embodiment, wherein the end effector 16 is a table tennis racket.

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Abstract

The invention discloses a mechanical arm and a table tennis robot with the same and relates to the technical field of robots. The mechanical arm comprises a first driving joint, a second driving joint, a third driving joint, a linkage structure, a fourth driving joint and an end effector; the first driving joint is connected with the second driving joint; the linkage structure is connected with the first driving joint and the second driving joint; the third driving joint is connected with the linkage structure; the fourth driving joint is connected with the third driving joint; the end effector is connected with the fourth driving joint; the first driving joint, the third driving joint and the fourth driving joint have rotational degrees of freedom; the second driving joint has extensionaldegrees of freedom; the linkage structure is used for adjusting the degrees of freedom of the third driving joint. The table tennis robot comprises the above mechanical arm and a linear moving module. The table tennis robot has a wide moving range, high moving speed and high ball-striking speed.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a mechanical arm and a table tennis robot with the same. Background technique [0002] A table tennis robot is a robot that can play table tennis with humans. [0003] Existing table tennis robot mainly contains following two forms: 1, a five-degree-of-freedom parallel mechanical arm is fixed upside down on the table tennis table, and the end of this parallel mechanical arm is connected with a table tennis racket. 2. The table tennis robot includes a series mechanical arm with five degrees of freedom and a linear slide table parallel to the width direction of the table tennis table. The mechanical arm can move linearly along the width direction of the table tennis table. [0004] Generally speaking, in the case of the same specifications, the movement space of parallel robotic arms is much smaller than that of serial robotic arms, so the range of motion of the first type of table...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/02B25J9/06A63B65/12
CPCA63B65/12B25J9/02B25J9/06B25J11/003
Inventor 彭放张海波张文李远顺
Owner 上海创屹科技有限公司
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