Open drive-control integrated robot motion controller

Abstract

The present invention belongs to the field of robot control, and is particularly an open-type drive-control integrated robot motion controller, comprising a table, a control handle and a competition tabletop provided on the tabletop, wherein the inner side wall of the competition tabletop is movably connected with a control shaft, the side surface of the control shaft is symmetrically provided with slide grooves, the side surface of the control shaft is provided with a robot, and the robot comprises a main body box and a control box; the device is provided with a movable robot on the control shaft, and a moving mechanism is provided so that the robot can move quickly on the control shaft, and the control mechanism can be provided so that the robot can be controlled to hit the ball, so that the robot is more manipulable, and then remotely controlled through the control handle, so that the robot is more convenient to control, and there is no need to stand in a fixed position, which effectively reduces the fatigue of the operator's hands and legs, making the device more applicable to a wider group of people and more interesting.

Description

Technical Field

[0001] The invention belongs to the field of robot control, and in particular relates to an open-type drive-control integrated robot motion controller. Background Art

[0002] Table football is a simple sports game that has both the confrontation and intensity unique to sports and the entertainment and watchability of games. It achieves the effects of entertainment, exercise and even enhancing parent-child relationships through the game design of mutual confrontation and competition.

[0003] Existing game tables are all controlled by hand-cranking handles, and the components on the control shaft are fixed. When operating, the control shaft needs to be turned violently to hit. Standing for a long time and continuously turning the wrist can easily cause hand soreness, which is very inconvenient for the elderly and children to operate.

[0004] Therefore, an open drive-control integrated robot motion controller is designed to solve the above problems. Summary of the invention

[0005] To solve the problems raised in the above background technology. The present invention provides an open drive-control integrated robot motion controller, which is provided with a movable robot on the control axis, a moving mechanism, so that the robot can move quickly on the control axis, and a control mechanism, so that the robot can be controlled to hit the ball, making the robot more manipulable, and then remotely controlled through a control handle, making the robot more convenient to control, without having to stand in a fixed position, effectively reducing the fatigue of the operator's hands and legs, making the device more applicable to a wider group of people and more interesting.

[0006] To achieve the above object, the present invention provides the following technical solution: an open drive-control integrated robot motion controller, comprising a table, a control handle and a competition tabletop provided on the tabletop, wherein the inner side wall of the competition tabletop is movably connected with a control shaft, the side surface of the control shaft is symmetrically provided with slide grooves, and the side surface of the control shaft is provided with a robot;

[0007] The robot comprises a main body box and a control box. A moving mechanism and a control mechanism are arranged inside the main body box. A shooting mechanism is arranged on the top of the main body box. The main body box is movably connected with a control shaft.

[0008] As a preferred open-type drive-control integrated robot motion controller of the present invention, the moving mechanism includes a mounting plate, a first rotating shaft, a moving roller, a second rotating shaft, a first gear, a first synchronous wheel, a first synchronous belt, a third rotating shaft and a second synchronous wheel, the mounting plate is fixedly installed inside the main body box, the four corners of the mounting plate are provided with a first rotating shaft, the moving roller is fixedly connected to the bottom end of the first rotating shaft, the second rotating shaft is rotatably connected to the middle part of the mounting plate, the first gear is fixedly installed at the top end of the second rotating shaft, the second rotating shaft and the first rotating shaft on the same side are connected to the first synchronous belt transmission through the first synchronous wheel, the third rotating shaft is rotatably connected to the middle part of the mounting plate, the second synchronous wheel is fixedly installed at the top end of the third rotating shaft, the third rotating shaft and the first rotating shaft on the same side are connected to the first synchronous belt transmission through the first synchronous wheel, the second rotating shaft and the third rotating shaft are symmetrically arranged, and the moving roller is located inside the slide groove.

[0009] As a preferred open-type drive-control integrated robot motion controller of the present invention, the moving mechanism also includes a mounting frame, a drive motor, a driving shaft, a third synchronous wheel, a second gear, an electric cylinder and a friction block. The mounting frame is fixedly mounted on the top of the mounting plate, the drive motor is fixedly mounted on the top of the mounting frame, the driving shaft is fixedly connected to the output end of the drive motor, the third synchronous wheel and the second gear are fixedly mounted on the side surface of the driving shaft, the electric cylinder is fixedly mounted on the inner side wall of the mounting frame, the friction block is fixedly connected to the output end of the electric cylinder, the friction block is in contact with the side surface of the driving shaft, the first gear is meshed with the second gear, and the second synchronous wheel is connected to the third synchronous wheel through a synchronous belt drive.

[0010] As a preferred open-type drive-control integrated robot motion controller of the present invention, the control mechanism includes a fixed rod, a connecting block, a first control rod, a second control rod, a third control rod, a control motor, a turntable, a control column, a first support rod, a movable sleeve, a first connecting rod, a support frame, a sliding seat, a first batting plate, a pillar, a second batting plate and a second support rod. The fixed rod is fixedly installed on one side of the inside of the main box, the connecting block is rotatably connected to one end of the fixed rod, the first control rod, the second control rod and the third control rod are all fixedly connected to the side surface of the connecting block, the first control rod and the second control rod are symmetrically arranged, the third control rod is located between the first control rod and the second control rod, and the control motor is fixed The first control rod is fixedly installed on one side of the main box, the turntable is fixedly connected to the output end of the control motor, the two control columns are symmetrically arranged on one side of the turntable, the first support rod and the second support rod are rotatably connected to the two control columns respectively, one end of the first support rod is rotatably connected to one end of the third control rod, the movable sleeve is movably connected to the side surface of the third control rod, the movable sleeve is rotatably connected to the support frame through the first connecting rod, the support frame is fixedly installed on one side of the sliding seat, the sliding seat is movably connected to one side of the main box, the first hitting plate is fixedly connected to the other side of the sliding seat, the four pillars are fixedly installed on one side of the main box, and the two second hitting plates are rotatably connected to the corresponding pillars respectively.

[0011] As a preferred open-type drive-control integrated robot motion controller of the present invention, the two second hitting plates are symmetrically arranged on the upper and lower sides of the first hitting plate, and one side of the two second hitting plates is rotatably connected to a connecting frame, the upper connecting frame is rotatably connected to the second support rod, and the lower connecting frame is rotatably connected to the second control rod.

[0012] As a preferred open-type drive-control integrated robot motion controller of the present invention, the shooting mechanism includes a first motor, a connecting seat, a second connecting rod, a movable block, a mounting rod, a mounting box, a motor plate, a second motor, a first swing arm, a second swing arm and a camera. The first motor is fixedly mounted on the top of the inner side of the main box, the connecting seat is located at the top of the main box, and is fixedly connected to the output end of the first motor, the movable block is located on the inner side of the connecting seat, and is rotatably connected to the inner side wall of the connecting seat through the second connecting rod, the mounting rod is fixedly mounted on the top of the movable block, the mounting box is fixedly mounted on the top of the mounting rod, the motor plate is fixedly mounted on the top of the main box, the second motor is fixedly mounted on one side of the motor plate, one end of the first swing arm is fixedly connected to the output end of the second motor, and the other end is rotatably connected to one end of the second swing arm, the other end of the second swing arm is rotatably connected to the mounting rod, and the camera is fixedly mounted on one side of the mounting box.

[0013] As a preferred open-type drive-control integrated robot motion controller of the present invention, a locking mechanism is provided at the connection between the table and the control shaft, and the locking mechanism includes a locking seat, a threaded groove, a threaded rod and a handle. The locking seat is fixedly installed on one side of the table, and the control shaft passes through the interior of the locking seat. A threaded groove is provided inside the locking seat, and the threaded rod is threadedly connected to the threaded groove. A handle is fixedly installed on one end of the threaded rod, and the other end is located inside the slide groove.

[0014] As a preferred embodiment of the open drive-control integrated robot motion controller of the present invention, the top and the bottom of the main body box are both provided with movable grooves, and the second support rod and the second control rod are both located in the corresponding movable grooves.

[0015] As a preferred open drive-control integrated robot motion controller of the present invention, a battery, a controller, a Bluetooth module, and a data conversion module are fixedly installed inside the control box.

[0016] As a preferred embodiment of the open-type drive-control integrated robot motion controller of the present invention, a goal is symmetrically mounted on the inner side wall of the competition table, and a crank is fixedly mounted on one end of the control shaft.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] By arranging a movable robot on the control axis and a moving mechanism, the robot can move quickly on the control axis. By arranging a control mechanism, the robot can be controlled to hit the ball, making the robot more manipulable. Then, remote control is performed through a control handle, making the robot more convenient to control. The operator does not need to stand in one position, which effectively reduces the fatigue of the operator's hands and legs, making the device more suitable for a wider range of people and more interesting. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the structure of the robot in the present invention;

[0022] Figure 3 Schematic diagram of the internal structure of the robot in the present invention;

[0023] Figure 4 It is a structural schematic diagram of the moving mechanism in the present invention;

[0024] Figure 5It is a structural schematic diagram of the mounting frame in the present invention;

[0025] Figure 6 It is a structural schematic diagram of the control mechanism in the present invention;

[0026] Figure 7 It is an enlarged view of point A in Figure 6;

[0027] Figure 8 It is a structural schematic diagram of the shooting mechanism in the present invention;

[0028] Fig. 9 It is a structural schematic diagram of the locking mechanism in the present invention;

[0029] Fig.10 It is a schematic diagram of the internal structure of the control box in the present invention;

[0030] Fig.11 It is a flow chart of the present invention.

[0031] In the figure:

[0032] 1. Table; 12. Control handle; 2. Competition table; 21. Control axis; 211. Crank; 22. Slide; 23. Goal;

[0033] 3. Robot; 31. Main box; 32. Control box; 33. Battery; 34. Controller; 35. Bluetooth module; 36. Data conversion module; 37. Activity slot;

[0034] 4. Moving mechanism; 41. Mounting plate; 42. First rotating shaft; 43. Moving roller; 44. Second rotating shaft; 45. First gear; 46. First synchronous wheel; 47. First synchronous belt; 48. Third rotating shaft; 49. Second synchronous wheel; 410. Mounting frame; 411. Driving motor; 412. Driving shaft; 413. Third synchronous wheel; 414. Second gear; 415. Electric cylinder; 416. Friction block;

[0035] 5. Control mechanism; 51. Fixed rod; 52. Connecting block; 53. First control rod; 54. Second control rod; 55. Third control rod; 56. Control motor; 57. Turntable; 58. Control column; 59. First support rod; 510. Movable sleeve; 511. First connecting rod; 512. Support frame; 513. Sliding seat; 514. First hitting board; 515. Support column; 516. Second hitting board; 517. Connecting frame; 518. Second support rod;

[0036] 6. Shooting mechanism; 61. First motor; 62. Connecting seat; 63. Second connecting rod; 64. Movable block; 65. Mounting rod; 66. Mounting box; 67. Motor plate; 68. Second motor; 69. First swing rod; 610. Second swing rod; 611. Camera;

[0037] 7. Locking mechanism; 71. Locking seat; 72. Threaded groove; 73. Threaded rod; 74. Handle. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Embodiment 1:

[0040] like Figure 1-Figure 11 As shown:

[0041] An open-type drive-control integrated robot motion controller comprises a table 1, a control handle 12 and a competition table 2 opened on the table 1, the inner wall of the competition table 2 is movably connected with a control shaft 21, the side surface of the control shaft 21 is symmetrically provided with slide grooves 22, the side surface of the control shaft 21 is provided with a robot 3, the robot 3 comprises a main body box 31 and a control box 32, the interior of the main body box 31 is provided with a moving mechanism 4 and a control mechanism 5, the top of the main body box 31 is provided with a shooting mechanism 6, and the main body box 31 is movably connected with the control shaft 21.

[0042] In this embodiment: a competition table 2 is provided on the table 1, and the control shaft 21 is movably connected to the inner wall of the competition table 2. When the robot 3 needs to be controlled by the control handle 12, the control shaft 21 is locked by the locking mechanism 7 to fix the control shaft 21, which is convenient for the robot 3 to move on the control shaft 21 and makes the operator's operation more precise. When the operator needs to operate the control shaft 21 with his arm, the limit of the control shaft 21 is released by the locking mechanism 7, and then the electric cylinder 415 controls the friction block 416 to tighten the driving shaft 412, so that the driving shaft 412 stops rotating, thereby stopping the robot 3 from moving, and facilitating the operator to manually control the control shaft 21 through the crank 211. The device has more control methods and can be suitable for more people.

[0043] Based on the existing open drive-control integrated robot motion controller, the present invention provides a movable robot 3 on the control shaft 21, and provides a moving mechanism 4 so that the robot 3 can move quickly on the control shaft 21. By providing a control mechanism 5, the robot 3 can be controlled to hit the ball, making the robot 3 more manipulable. Then, remote control is performed through a control handle 12, making the control of the robot 3 more convenient without having to stand in a fixed position, effectively reducing the fatigue of the operator's hands and legs, making the device more applicable to a wider group of people and more interesting.

[0044] like Figure 3 , Figure 4 and Figure 5 As shown;

[0045] In combination with the above contents, the moving mechanism 4 includes a mounting plate 41, a first rotating shaft 42, a moving roller 43, a second rotating shaft 44, a first gear 45, a first synchronous wheel 46, a first synchronous belt 47, a third rotating shaft 48 and a second synchronous wheel 49. The mounting plate 41 is fixedly mounted inside the main box 31, and the four corners of the mounting plate 41 are provided with a first rotating shaft 42. The moving roller 43 is fixedly connected to the bottom end of the first rotating shaft 42, and the second rotating shaft 44 is rotatably connected to the middle part of the mounting plate 41. The first gear 45 is fixedly mounted on the top of the second rotating shaft 44. The second rotating shaft 44 and the first rotating shaft 42 on the same side are transmission-connected to the first synchronous belt 47 through the first synchronous wheel 46. The third rotating shaft 48 is rotationally connected to the middle part of the mounting plate 41. The second synchronous wheel 49 is fixedly mounted on the top of the third rotating shaft 48. The third rotating shaft 48 and the first rotating shaft 42 on the same side are transmission-connected to the first synchronous belt 47 through the first synchronous wheel 46. The rotating shaft 44 and the third rotating shaft 48 are symmetrically arranged, and the moving roller 43 is located inside the slide groove 22. The moving mechanism 4 also includes a mounting frame 410, a driving motor 411, a driving shaft 412, a third synchronous wheel 413, a second gear 414, an electric cylinder 415 and a friction block 416. The mounting frame 410 is fixedly mounted on the top of the mounting plate 41, the driving motor 411 is fixedly mounted on the top of the mounting frame 410, the driving shaft 412 is fixedly connected to the output end of the driving motor 411, the side surface of the driving shaft 412 is fixedly mounted with the third synchronous wheel 413 and the second gear 414, the electric cylinder 415 is fixedly mounted on the inner side wall of the mounting frame 410, the friction block 416 is fixedly connected to the output end of the electric cylinder 415, the friction block 416 contacts the side surface of the driving shaft 412, the first gear 45 is meshed with the second gear 414, and the second synchronous wheel 49 is connected to the third synchronous wheel 413 through a synchronous belt transmission.

[0046] In this embodiment, the mounting plate 41 is fixedly mounted inside the main box 31, a mounting frame 410 is fixedly mounted on the top of the mounting plate 41, a driving motor 411 is fixedly mounted on the top of the mounting frame 410, the driving motor 411 controls the third synchronous wheel 413 and the second gear 414 to rotate through the driving shaft 412, the second synchronous wheel 49 and the third synchronous wheel 413 are connected through a synchronous belt transmission, the first gear 45 is meshed with the second gear 414, when the driving shaft 412 drives the third synchronous wheel 413 and the second gear 414 to rotate, the second rotating shaft 44 and the third rotating shaft 48 rotate in opposite directions, and the second rotating shaft 44 is driven by the first synchronous wheel 46 The first rotating shaft 42 on the same side is driven to rotate by the first synchronous belt 47, and the third rotating shaft 48 drives the first rotating shaft 42 on the same side to rotate through the first synchronous wheel 46 and the first synchronous belt 47. Since the rotation directions of the second rotating shaft 44 and the third rotating shaft 48 are opposite, the rotation directions of the moving rollers 43 on both sides of the mounting plate 41 are opposite. The moving rollers 43 are located inside the slide groove 22. Since the rotation directions of the moving rollers 43 on both sides of the mounting plate 41 are opposite, when it is necessary to control the robot 3 to move, the four moving rollers 43 can be driven, so that the robot 3 can move faster on the control shaft 21 and react more sensitively without slipping.

[0047] It should be noted that a rubber cushion layer is provided on the side surface of the moving roller 43 , and the moving roller 43 fits tightly with the inner bottom of the slide groove 22 . The rubber cushion layer enhances the friction with the slide groove 22 , so that the fixing effect of the robot 3 is better.

[0048] like Figure 1 , Figure 2 , Figure 3 , Figure 6 and Figure 7 As shown;

[0049] In combination with the above content, the control mechanism 5 includes a fixed rod 51, a connecting block 52, a first control rod 53, a second control rod 54, a third control rod 55, a control motor 56, a turntable 57, a control column 58, a first support rod 59, a movable sleeve 510, a first connecting rod 511, a support frame 512, a sliding seat 513, a first hitting plate 514, a support 515, a second hitting plate 516 and a second support rod 518. The fixed rod 51 is fixedly installed on one side of the main box 31, the connecting block 52 is rotatably connected to one end of the fixed rod 51, the first control rod 53, the second control rod 54, and the third control rod 55 are all fixedly connected to the side surface of the connecting block 52, the first control rod 53 and the second control rod 54 are symmetrically arranged, the third control rod 55 is located between the first control rod 53 and the second control rod 54, and the control motor 56 is fixed. Installed on one side of the inside of the main box 31, the turntable 57 is fixedly connected to the output end of the control motor 56, and the two control columns 58 are symmetrically arranged on one side of the turntable 57. The first support rod 59 and the second support rod 518 are rotatably connected to the two control columns 58 respectively, one end of the first support rod 59 is rotatably connected to one end of the third control rod 55, the movable sleeve 510 is movably connected to the side surface of the third control rod 55, the movable sleeve 510 is rotatably connected to the support frame 512 through the first connecting rod 511, the support frame 512 is fixedly installed on one side of the sliding seat 513, the sliding seat 513 is movably connected to one side of the main box 31, the first batting plate 514 is fixedly connected to the other side of the sliding seat 513, four pillars 515 are fixedly installed on one side of the main box 31, and the two second batting plates 516 are rotatably connected to the corresponding pillars 515 respectively.

[0050] In this embodiment: the fixed rod 51 is fixedly installed on one side of the main box 31, the first control rod 53, the second control rod 54, and the third control rod 55 are rotatably connected to the fixed rod 51 through the connecting block 52, the first control rod 53 and the second control rod 54 are symmetrically arranged, and the third control rod 55 is arranged at a right angle to the first control rod 53. When the third control rod 55 swings left and right, the first control rod 53 and the second control rod 54 will also swing with the third control rod 55. When it is necessary to control the robot 3 to hit the ball, the turntable 57 is controlled to rotate by controlling the motor 56. The two control columns 58 are symmetrically arranged on one side of the turntable 57. When the turntable 57 rotates, the two control columns 58 are also driven to rotate. The first support rod 59 and the second support rod 518 are respectively connected to the first support rod 59 and the second support rod 518. The two control columns 58 are rotatably connected. When the two control columns 58 rotate, they will drive the first support rod 59 and the second support rod 518 to move. When the first support rod 59 moves, it will control the third control rod 55 to swing, thereby controlling the first control rod 53 and the second control rod 54. When the second control rod 54 swings, it controls the second hitting plate 516 on the lower side to rotate, so as to hit the ball coming from below. When the first control rod 53 swings, it controls the supporting frame 512 through the movable sleeve 510, so as to control the first hitting plate 514 to move to hit the ball coming from the middle. When the second support rod 518 moves, it will drive the upper connecting frame 517 to move, so as to rotate the upper second hitting plate 516 to hit the ball coming from the top.

[0051] It should be noted that the shooting mechanism 6 is located at the rear side of the second hitting plate 516 above. The material of the second hitting plate 516 is a transparent plate, which is convenient for the camera to shoot the situation on the desktop and can also protect the shooting mechanism 6.

[0052] like Figure 1 , Figure 2 , Figure 3 , Figure 6 and Figure 7 As shown;

[0053] In combination with the above content, the two second hitting plates 516 are symmetrically arranged on the upper and lower sides of the first hitting plate 514, and one side of the two second hitting plates 516 is rotatably connected to a connecting frame 517, the upper connecting frame 517 is rotatably connected to the second support rod 518, and the lower connecting frame 517 is rotatably connected to the second control rod 54.

[0054] In this embodiment: the second support rod 518 and the second control rod 54 are connected through the connecting frame 517. When the turntable 57 rotates, the second support rod 518 and the second control rod 54 will rotate at the same time, so that the two second hitting plates 516 will rotate at the same time. When the second hitting plate 516 swings, the first hitting plate 514 will shrink, which will not affect the second hitting plate 516 from hitting the ball.

[0055] like Figure 1 , Figure 2 , Figure 3 and Figure 8 As shown;

[0056] In combination with the above content, the shooting mechanism 6 includes a first motor 61, a connecting seat 62, a second connecting rod 63, a movable block 64, a mounting rod 65, a mounting box 66, a motor plate 67, a second motor 68, a first swing rod 69, a second swing rod 610 and a camera 611. The first motor 61 is fixedly installed on the top of the inner side of the main box 31, the connecting seat 62 is located at the top of the main box 31 and is fixedly connected to the output end of the first motor 61, the movable block 64 is located on the inner side of the connecting seat 62 and is connected to the connecting seat 61 through the second connecting rod 63. 2 is rotatably connected, the mounting rod 65 is fixedly mounted on the top of the movable block 64, the mounting box 66 is fixedly mounted on the top of the mounting rod 65, the motor plate 67 is fixedly mounted on the top of the main box 31, the second motor 68 is fixedly mounted on one side of the motor plate 67, one end of the first swing arm 69 is fixedly connected to the output end of the second motor 68, and the other end is rotatably connected to one end of the second swing arm 610, the other end of the second swing arm 610 is rotatably connected to the mounting rod 65, and the camera 611 is fixedly mounted on one side of the mounting box 66.

[0057] In the present embodiment: by providing a shooting mechanism 6, it is convenient to control the shooting angle of the camera 611, so that the shooting effect of the camera 611 is better, and the first motor 61 controls the connection seat 62 to rotate, and at the same time drives the movable block 64 and the installation box 66 to rotate in the horizontal direction, and the second motor 68 drives the first swing arm 69 and the second swing arm 610 to rotate in the vertical direction, so that the camera 611 makes a nodding action, which is convenient for adjusting the angle of the camera 611 installed on the installation box 66, so that the camera 611 can shoot at multiple angles, thereby improving the shooting effect.

[0058] It should be noted that the axis of the main shaft of the second motor 68 overlaps with the extension line of the axis of the second connecting rod 63 .

[0059] like Figure 1 and Fig. 9 As shown;

[0060] In combination with the above content, a locking mechanism 7 is provided at the connection between the table 1 and the control shaft 21. The locking mechanism 7 includes a locking seat 71, a threaded groove 72, a threaded rod 73 and a handle 74. The locking seat 71 is fixedly installed on one side of the table 1, and the control shaft 21 passes through the inside of the locking seat 71. A threaded groove 72 is provided inside the locking seat 71. The threaded rod 73 is threadedly connected to the threaded groove 72. A handle 74 is fixedly installed on one end of the threaded rod 73, and the other end is located inside the slide groove 22.

[0061] In this embodiment: by providing a locking mechanism 7, the control shaft 21 can be locked to fix the control shaft 21, which is convenient for the robot 3 to move on the control shaft 21 and makes the operator's operation more precise. When the operator needs to operate the control shaft 21 with his arm, the locking mechanism 7 is used to loosen the limit of the control shaft 21, and then the electric cylinder 415 controls the friction block 416 to tighten the active shaft 412, so that the active shaft 412 stops rotating, thereby stopping the robot 3 from moving, making it convenient for the operator to manually control the control shaft 21 through the crank 211. When the control shaft 21 needs to be fixed, the handle 74 is turned, and the threaded rod 73 is threadedly connected to the threaded groove 72 so that the threaded rod 73 tightens the slide groove 22.

[0062] like Figure 1 , Figure 2 , Figure 3 , Figure 6 and Figure 7 As shown;

[0063] In combination with the above content, movable grooves 37 are opened on the top and bottom of the main box 31, the second support rod 518 and the second control rod 54 are both located in the corresponding movable grooves 37, the inner wall of the competition table 2 is symmetrically installed with a goal 23, and a crank 211 is fixedly installed at one end of the control shaft 21.

[0064] In this embodiment: by providing a movable groove 37, the second support rod 518 and the second control rod 54 are convenient for movement, the inner wall of the competition table 2 is symmetrically installed with a goal 23, and a proximity sensor is provided inside the goal 23 to facilitate the detection of goals and increase competitiveness. A crank handle 211 is fixedly installed at one end of the control shaft 21 to facilitate manual operation of the control shaft 21.

[0065] like Figure 3 , Fig.10 and Fig.11 As shown;

[0066] In combination with the above contents, a battery 33 , a controller 34 , a Bluetooth module 35 , and a data conversion module 36 are fixedly installed inside the control box 32 .

[0067] In this embodiment: by providing a battery 33, it is convenient to power the electrical components; by providing a controller 34, it is convenient to control the electrical components; by providing a Bluetooth module 35, it is convenient to establish a signal connection with the control handle 12, so that the control handle 12 can be connected to the controller 34 by signal; by providing a data conversion module 36, the image taken by the camera 611 can be converted and then transmitted through the Bluetooth module 35.

[0068] Specifically, the battery 33 is electrically connected to the controller 34 to supply power to the controller 34; the drive motor 411, the electric cylinder 415, the control motor 56, the first motor 61, the second motor 68, and the Bluetooth module 35 are all electrically connected to the controller 34 and controlled by the controller 34; the data collected by the camera 611 and the proximity sensor are converted by the data conversion module 36, and then the data conversion module 36 transmits the data to the controller 34, and then the signal is transmitted by the Bluetooth module 35; a Bluetooth module 35 is also provided inside the control handle 12, and the electrical signal generated by the control handle 12 can be transmitted through the Bluetooth module 35 inside the control handle 12; a display screen is provided on one side of the table 1, and the Bluetooth module 35 can be wirelessly connected to the display screen, and the image taken by the camera 611 can be displayed through the display screen.

[0069] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An open-type drive-control integrated robot motion controller, comprising a table (1), a control handle (12), and a competition table (2) provided on the table (1), characterized in that: The inner side wall of the competition table (2) is movably connected to a control shaft (21), the side surface of the control shaft (21) is symmetrically provided with sliding grooves (22), and the side surface of the control shaft (21) is provided with a robot (3); The robot (3) comprises a main body box (31) and a control box (32); a moving mechanism (4) and a control mechanism (5) are arranged inside the main body box (31); a shooting mechanism (6) is arranged on the top of the main body box (31); and the main body box (31) is movably connected to a control shaft (21); The moving mechanism (4) comprises a mounting plate (41), a first rotating shaft (42), a moving roller (43), a second rotating shaft (44), a first gear (45), a first synchronous wheel (46), a first synchronous belt (47), a third rotating shaft (48) and a second synchronous wheel (49); the mounting plate (41) is fixedly mounted inside the main box (31); the first rotating shaft (42) is disposed at each of the four corners of the mounting plate (41); the moving roller (43) is fixedly connected to the bottom end of the first rotating shaft (42); the second rotating shaft (44) is rotatably connected to the middle of the mounting plate (41); the first gear (45) is fixedly mounted on the mounting plate (41); The third rotating shaft (48) is rotatably connected to the middle of the mounting plate (41); the second synchronous wheel (49) is fixedly mounted on the top of the third rotating shaft (48); the third rotating shaft (48) is rotatably connected to the first rotating shaft (42) on the same side through the first synchronous wheel (46) and the first synchronous belt (47); the second rotating shaft (44) and the third rotating shaft (48) are symmetrically arranged; and the movable roller (43) is located inside the slide groove (22); The control mechanism (5) comprises a fixed rod (51), a connecting block (52), a first control rod (53), a second control rod (54), a third control rod (55), a control motor (56), a rotating disk (57), a control column (58), a first support rod (59), a movable sleeve (510), a first connecting rod (511), a supporting frame (512), a sliding seat (513), a first hitting plate (514), a supporting column (515), a second hitting plate (516) and a second support rod (518). The fixing rod (51) is fixedly mounted on one side of the main body box (31); the connecting block (52) is rotatably connected to one end of the fixing rod (51); the first control rod (53), the second control rod (54), and the third control rod (55) are all fixedly connected to the side surface of the connecting block (52); the first control rod (53) and the second control rod (54) are symmetrically arranged; the third control rod (55) is located between the first control rod (53) and the second control rod (54); and the control motor (56) is fixedly mounted on the fixing rod (51) and the second control rod (54) is fixedly mounted on the fixing rod (51). The rotating disk (57) is fixedly connected to the output end of the control motor (56), and the two control columns (58) are symmetrically arranged on one side of the rotating disk (57). The first support rod (59) and the second support rod (518) are rotatably connected to the two control columns (58), respectively. One end of the first support rod (59) is rotatably connected to one end of the third control rod (55). The movable sleeve (510) is movably connected to the side surface of the third control rod (55). 10) is rotatably connected to a support frame (512) via a first connecting rod (511), the support frame (512) is fixedly mounted on one side of a sliding seat (513), the sliding seat (513) is movably connected to one side of a main body box (31), the first hitting plate (514) is fixedly connected to the other side of the sliding seat (513), the four pillars (515) are fixedly mounted on one side of the main body box (31), and the two second hitting plates (516) are rotatably connected to the corresponding pillars (515), respectively.

2. The open drive-control integrated robot motion controller according to claim 1, characterized in that: The moving mechanism (4) further comprises a mounting frame (410), a driving motor (411), a driving shaft (412), a third synchronous wheel (413), a second gear (414), an electric cylinder (415) and a friction block (416); the mounting frame (410) is fixedly mounted on the top of the mounting plate (41); the driving motor (411) is fixedly mounted on the top of the mounting frame (410); the driving shaft (412) is fixedly connected to the output end of the driving motor (411); and the driving shaft (412) is fixedly connected to the output end of the driving motor (411). ) is fixedly mounted on the side surface of the electric cylinder (415), the electric cylinder (415) is fixedly mounted on the inner side wall of the mounting frame (410), the friction block (416) is fixedly connected to the output end of the electric cylinder (415), the friction block (416) is in contact with the side surface of the driving shaft (412), the first gear (45) is meshedly connected to the second gear (414), and the second synchronous wheel (49) is connected to the third synchronous wheel (413) via a synchronous belt transmission.

3. The open drive-control integrated robot motion controller according to claim 1, characterized in that: The two second ball striking plates (516) are symmetrically arranged on the upper and lower sides of the first ball striking plate (514); one side of the two second ball striking plates (516) is rotatably connected to a connecting frame (517); the upper connecting frame (517) is rotatably connected to the second support rod (518); and the lower connecting frame (517) is rotatably connected to the second control rod (54).

4. The open drive-control integrated robot motion controller according to claim 1, characterized in that: The shooting mechanism (6) comprises a first motor (61), a connecting seat (62), a second connecting rod (63), a movable block (64), a mounting rod (65), a mounting box (66), a motor plate (67), a second motor (68), a first swing rod (69), a second swing rod (610) and a camera (611), wherein the first motor (61) is fixedly mounted on the top of the inner side of the main box (31), the connecting seat (62) is located at the top of the main box (31) and is fixedly connected to the output end of the first motor (61), and the movable block (64) is located on the inner side of the connecting seat (62) and is connected to the connecting seat (62) via the second connecting rod (63). ), the mounting rod (65) is fixedly mounted on the top of the movable block (64), the mounting box (66) is fixedly mounted on the top of the mounting rod (65), the motor plate (67) is fixedly mounted on the top of the main body box (31), the second motor (68) is fixedly mounted on one side of the motor plate (67), one end of the first swing rod (69) is fixedly connected to the output end of the second motor (68), and the other end is rotationally connected to one end of the second swing rod (610), the other end of the second swing rod (610) is rotationally connected to the mounting rod (65), and the camera (611) is fixedly mounted on one side of the mounting box (66).

5. The open drive-control integrated robot motion controller according to claim 1, characterized in that: A locking mechanism (7) is provided at the connection between the table (1) and the control shaft (21), the locking mechanism (7) comprising a locking seat (71), a threaded groove (72), a threaded rod (73) and a handle (74); the locking seat (71) is fixedly mounted on one side of the table (1); the control shaft (21) passes through the interior of the locking seat (71); a threaded groove (72) is provided inside the locking seat (71); the threaded rod (73) is threadedly connected to the threaded groove (72); one end of the threaded rod (73) is fixedly mounted with a handle (74); the other end is located inside the slide groove (22).

6. The open drive-control integrated robot motion controller according to claim 3, characterized in that: The top and bottom of the main box (31) are both provided with movable grooves (37), and the second support rod (518) and the second control rod (54) are both located in the corresponding movable grooves (37).

7. The open drive-control integrated robot motion controller according to claim 1, characterized in that: A storage battery (33), a controller (34), a Bluetooth module (35), and a data conversion module (36) are fixedly installed inside the control box (32).

8. The open drive-control integrated robot motion controller according to claim 1, characterized in that: A goal (23) is symmetrically mounted on the inner side wall of the competition table (2), and a crank (211) is fixedly mounted on one end of the control shaft (21).

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