Throwing robot

Abstract

The utility model provides a throwing robot which comprises a bottom plate, a grabbing mechanism, a ball throwing mechanism, a movement mechanism, a control panel and a battery pack, wherein the grabbing mechanism, the ball throwing mechanism, the movement mechanism, the control panel and the battery pack are installed on the bottom plate. The battery pack provides a power supply; the control panel is connected with the grabbing mechanism, the ball throwing mechanism and the movement mechanism and used for controlling the grabbing mechanism to grab ball articles and place the ball articles into a throwing basket of the ball throwing mechanism. The ball throwing mechanism is controlled to throw the ball articles in the throwing basket to the inclined upper part; and the movement mechanism is controlled to move on the ground. The throwing robot disclosed by the utility model can simulate basketball movement of human beings, freely grab ball articles in the air or falling on the ground, and finish the throwing action; the structure is simple, and the control is easy.

Description

Technical Field

[0001] The utility model relates to the field of intelligent control models, in particular to a throwing robot. Background Art

[0002] The participation of primary and secondary school students in robot competitions is becoming increasingly active in my country. The current competitions include robot football, fire fighting, tracking, maze walking and other events. Primary and secondary school students can exercise their design and innovation abilities by participating in robot competitions.

[0003] Currently, the throwing robots used in competitions have slow walking speed, inflexible steering, low throwing accuracy, and cannot throw objects of different specifications. In addition, the motherboard integration of traditional throwing robots used in competitions is low, and the motor drive generates a lot of heat, so they cannot be used for a long time with high intensity. Utility Model Content

[0004] The utility model aims to provide a throwing robot to meet at least one of the above requirements.

[0005] The technical solution is as follows:

[0006] A throwing robot comprises a base plate, and a grasping mechanism, a ball throwing mechanism, a motion mechanism, a control panel and a battery pack installed on the base plate;

[0007] The battery pack provides power;

[0008] The control panel is connected to the grabbing mechanism, the ball throwing mechanism and the motion mechanism, and is used to control the grabbing mechanism to grab the ball object and place the ball object into the throwing basket of the ball throwing mechanism; control the ball throwing mechanism to throw the ball object in the throwing basket obliquely upward; and control the movement of the motion mechanism on the ground;

[0009] The gripping mechanism comprises a first steering gear, a second steering gear, a third steering gear and a mechanical claw;

[0010] The first steering gear is connected to the mechanical claw to control the mechanical claw to open and close in the first plane;

[0011] The second steering gear is connected to the first steering gear via a connecting member, and the axis of the second steering gear is parallel to the first plane;

[0012] The third steering gear and the second steering gear are connected in parallel via a connecting member, that is, the axis of the third steering gear is parallel to the axis of the second steering gear;

[0013] The third steering gear is connected to the bottom plate and is used to control the two-dimensional movement of the mechanical claw in the second plane; the axis of the third steering gear is parallel to the surface where the bottom plate is located;

[0014] The ball throwing mechanism comprises a throwing basket, a throwing basket bracket, an elastic element, a limiting element and an energy storage release device;

[0015] The throwing basket includes a basket body and two parallel swing rods arranged on both sides of the basket body. The throwing basket bracket has two brackets, which are arranged in parallel. The bottom of the bracket is fixed above the bottom plate, and the end of the bracket is connected to the swing rod shaft, so that the throwing basket can perform circular motion.

[0016] The elastic element acts on one end of the throwing basket, so that the throwing basket can perform circular motion under the action of the elastic element;

[0017] The energy storage release device is used to apply force to the elastic element before throwing, so that the elastic element stores energy; and when throwing, the movement restriction of the throwing basket is released, so that the throwing basket rotates under the action of the elastic element and the ball object therein is thrown out;

[0018] The limiting element is used to limit the rotation angle of the throwing basket during throwing.

[0019] Furthermore, the first servo and the second servo are 180-degree dual-axis servos; the third servo adopts a long U-shaped vertical installation, that is, a long U-shaped bracket is provided on the shaft of the first servo, and the first servo is installed directly above the base plate through the long U-shaped bracket.

[0020] Furthermore, the elastic element is a pair of symmetrically arranged elastic ropes or tension springs, the end of the throwing basket bracket is connected to the middle axis of the swing rod, and the elastic element is tied between the end of the swing rod and the bottom of the throwing basket bracket, or between the end of the swing rod and the bottom plate.

[0021] Furthermore, the limiting element is an elastic rope, and the elastic rope is tied between the bottom of the basket body of the throwing basket and the bottom plate.

[0022] Furthermore, a smooth shaft rod parallel to the second plane is provided at the bottom of the basket body of the throwing basket, and one end of the elastic rope is slidably tied to the smooth shaft rod.

[0023] Furthermore, the energy storage tripping device comprises a reduction motor, a rocker arm and a contact rod arranged on the throwing basket;

[0024] The axis of the contact rod is parallel to the second plane;

[0025] The reduction motor is fixed on the base plate, and the rocker arm is arranged on the shaft of the reduction motor. The shaft of the reduction motor is perpendicular to the second plane. The rocker arm can contact the contact rod when it is rotated to a certain angle, and drive the throwing basket to rotate through the contact rod, so that one end of the basket body of the throwing basket is pressed down, and the elastic element stores energy; when the rocker arm rotates and disengages from the contact rod, the throwing basket rotates in the opposite direction under the action of the elastic element, so that the basket body at one end of the throwing basket is lifted up, completing the throwing action.

[0026] Furthermore, the motion mechanism includes four Mecanum wheels; the Mecanum wheels are installed at the bottom of the base plate and driven by a DC motor.

[0027] Furthermore, the control board includes a main control chip, a motor drive chip and a port isolation chip; the main control chip adopts a 32-bit processor; the motor drive chip adopts an H-bridge gate driver with model DRV8701E; the port isolation chip is a 74125 series bus transceiver, which is arranged between the IO port of the main control chip and the control interface of the motor drive chip.

[0028] The utility model achieves the following technical effects:

[0029] The throwing robot of the utility model can simulate the basketball movement of human beings, freely grab the ball objects in the air or on the ground, and complete the throwing action; it has the characteristics of simple structure, easy control and the like.

[0030] The control panel of the throwing robot has the characteristics of high integration, high control accuracy, low heat generation, and long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the throwing robot of the utility model;

[0032] Figure 2 It is a left view of the throwing robot of the utility model;

[0033] Figure 3 It is a right side view of the throwing robot of the utility model;

[0034] Figure 4 It is a top view of the throwing robot of the utility model;

[0035] Figure 5 It is a circuit diagram of a motor drive part of the control board;

[0036] Figure 6 This is the circuit diagram of the main control unit. DETAILED DESCRIPTION

[0037] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0038] The utility model is now further described in conjunction with the accompanying drawings and specific implementation methods.

[0039] like Figures 1 to 4 As shown, the utility model provides an embodiment of a humanoid throwing robot. The throwing robot can simulate human basketball sports and can perform the work of grabbing and throwing ball objects during sports.

[0040] In this embodiment, the throwing robot is composed of a base plate 1, a grabbing mechanism 2, a ball throwing mechanism 3, a motion mechanism 4, a control board 5 and a battery pack (not shown) installed on the base plate 1. The battery pack provides power to the throwing robot. The control board 5 is connected to the grabbing mechanism 2, the ball throwing mechanism 3 and the motion mechanism 4, and controls the grabbing mechanism 2 to grab ball objects (such as basketballs) and place the ball objects into the throwing basket 310 of the ball throwing mechanism 3; controls the ball throwing mechanism 3 to throw the ball objects in the throwing basket 310 obliquely upward; and controls the movement of the motion mechanism 4 on the ground. The following is a detailed description of each structure.

[0041] The bottom plate 1 is made of high-strength glass fiber board to ensure high strength and reduced weight, so as to have a longer-lasting sports ability under the same battery energy. Preferably, the thickness of the bottom plate 1 is 3mm to 5mm.

[0042] In this embodiment, the motion mechanism 4 uses four Mecanum wheels 401 for motion. The four Mecanum wheels 401 are driven by four DC motors 402 respectively. By controlling the forward and backward combined motions of the four Mecanum wheels 401, the motion modes such as turning around in place, translating left and right, turning left, and turning right can be realized, and the designated position can be reached quickly with high flexibility. Preferably, the diameter of the Mecanum wheel is 60 mm to 80 mm.

[0043] In this embodiment, the DC motor 402 can be a coding reduction motor of the type MG513, etc. The reduction ratio of 1:30 ensures a certain speed while having a greater torque to ensure a certain passability. A large reduction ratio can improve the movement accuracy of the car and make it easier to fine-tune the direction of the car.

[0044] In this embodiment, the grasping structure 2 includes three steering gears and a mechanical claw, and has three degrees of freedom.

[0045] Among them, the first servo 220 is connected to the mechanical claw 210 to control the mechanical claw 210 to open and close in the XZ plane (hereinafter referred to as the first plane). The mechanical claw 210 adopts an opening and closing design with one degree of freedom, which has the characteristics of simple structure and easy control. The second servo 230 is connected to the first servo 220 through a connecting piece, and the axis 231 of the second servo 230 is parallel to the first plane. The third servo 240 and the second servo 230 are connected in parallel through a connecting piece, that is, the axis 241 of the third servo 240 is parallel to the axis 231 of the second servo 230. The third servo 240 is connected to the base plate 1 to control the two-dimensional movement of the mechanical claw 210 in the YZ plane (hereinafter referred to as the second plane); the axis 241 of the third servo 240 is parallel to the surface of the base plate 1.

[0046] Preferably, the second steering gear 220 and the third steering gear 230 are both 180-degree dual-axis steering gears, which can reduce the strength requirements for the structural parts and ensure the stability of the structural parts.

[0047] The third servo 240 is installed in a long U-shaped vertical manner (i.e., a long U-shaped bracket 242 is provided on the shaft 241 of the third servo 240, and the first servo 240 is installed directly above the base plate through the long U-shaped bracket), which can increase the lifting height of the mechanical claw 210 and make the movement range of the grasping structure 2 larger.

[0048] Since the mechanical claw 210 is a hollow structure, the ball may get stuck in the mechanical claw 210 during the grasping experiment. Preferably, a steering pad is provided in the mechanical claw to prevent the ball from getting stuck in the mechanical claw. In this embodiment, the ball throwing mechanism 3 is composed of a throwing basket 310, a throwing basket bracket 320, an elastic element 330, a limiting element 340 and an energy storage release device 350. Among them:

[0049] The throwing basket 310 includes a basket body 311 and two parallel swing rods 312 arranged on both sides of the basket body 311. There are two throwing basket brackets 320, which are arranged in parallel. The bottom of the throwing basket brackets 320 is fixed above the bottom plate 1, and the top of the throwing basket brackets 320 is connected to the swing rod 312 axis, so that the throwing basket 310 can perform circular motion.

[0050] The elastic element 330 acts on one end of the throwing basket 310, so that the throwing basket 310 can perform circular motion under the action of the elastic element 330. Specifically, the elastic element 330 is a pair of symmetrically arranged elastic ropes or tension springs, the end 321 of the throwing basket bracket 320 is connected to the middle axis of the swing rod 312, and the elastic element 330 is tied between the end 3121 of the swing rod 312 and the bottom 322 of the throwing basket bracket 320, or between the end 3121 of the swing rod 312 and the bottom plate 1.

[0051] The energy storage release device 350 is used to apply force to the elastic element 330 before throwing, so that the elastic element 330 stores energy, and when throwing, it releases the movement restriction of the throwing basket 310, so that the throwing basket 310 rotates under the action of the elastic element 330 and throws out the ball object therein.

[0052] Specifically, the energy storage release device 350 includes a reduction motor 351, a coupling 352, a rocker arm 353 and a contact rod 354 arranged on the throwing basket 310; the axis of the contact rod 354 is parallel to the second plane; the reduction motor 351 is fixed to the bottom plate, the rocker arm is arranged on the axis of the reduction motor, the axis of the reduction motor is perpendicular to the second plane, the rocker arm can contact the contact rod when rotating to a certain angle, and drive the throwing basket to rotate through the contact rod, so that one end of the basket body of the throwing basket is pressed down, and the elastic element is stored with energy; when the rocker arm rotates and disengages from the contact rod, the throwing basket rotates in the opposite direction under the action of the elastic element, so that the basket body at one end of the basket body of the throwing basket is lifted up, completing the throwing action. Among them, the coupling 352 is used for the axis connection of the reduction motor 351 and the rocker arm 353, and is not necessary.

[0053] The limiting element 340 is used to limit the rotation angle of the throwing basket 310 during throwing. Specifically, the limiting element 340 is a rope, and the elastic rope is tied between the bottom of the basket body 311 of the throwing basket 310 and the bottom plate 1. The rope can be an elastic rope or a non-elastic rope, preferably an elastic rope, which has better impact resistance. More specifically, a smooth shaft rod 313 parallel to the second plane is provided at the bottom of the basket body 311 of the throwing basket 310, and one end of the rope is slidably tied to the smooth shaft rod 313.

[0054] Before throwing, the throwing basket 310 is tilted backward, with the front higher and the back lower. For this reason, a baffle 101 is installed at the rear portion of the base plate 1 to prevent the ball from falling out from the rear side of the throwing basket 310 when the catching structure 2 puts the ball into the throwing basket 310.

[0055] The throwing robot can also be provided with a camera to identify balls on the ground or in the air and locate the balls, so as to more intelligently adjust the posture of the throwing robot to grab balls on the ground or catch balls flying in the air.

[0056] The operation of the entire throwing robot to shoot is as follows:

[0057] Before grabbing, the throwing basket 310 is pressed down by the energy storage release device 350, so that the elastic element 330 is in an energy storage state;

[0058] During the grabbing process, the throwing robot is moved to the front of the ball through the motion mechanism 4 , the grabbing mechanism 2 is controlled to grab the ball, and then the ball is picked up and placed in the throwing basket 310 .

[0059] The throwing robot is moved to a designated position through the motion structure 4 to prepare for shooting (i.e., throwing the ball toward the target); at this time, the energy storage release device 350 is controlled to perform the release action. Specifically, the rocker arm 353 is connected to the high-torque reduction motor 351 through the coupling 352, and the reduction motor 351 drives the rocker arm 353 to press down the contact rod 354 extending from the left arm of the throwing basket 310, driving the throwing basket 310 to rotate, and completing the throwing action.

[0060] like Figure 5 and Figure 6 As shown, in this embodiment, the control board 5 includes components such as a main control chip, a motor drive circuit / chip, etc. The main control chip U17 uses a 32-bit processor. More specifically, the STM32F103RCT6 32-bit processor of ST Company can be used as the main control chip. The chip is relatively cheap and has sufficient resources for the throwing robot. Each motor drive part uses an H-bridge driver U5 for drive control. More specifically, an H-bridge intelligent gate driver such as the model DRV8701E of Texas Instruments can be used. The driver chip does not require a boost circuit, which can avoid electromagnetic interference caused by the boost circuit to a certain extent, and the motor drive chip only needs to control the rotation direction and rotation speed of the motor through a PWM signal and a high and low level signal, which can greatly save the IO port resources of the single-chip microcomputer. At the same time, in order to protect the single-chip microcomputer, a bus transceiver U7 of the model SN74HC125PWR is added between the IO port of the single-chip microcomputer and the control interface of the motor drive chip as an interface isolation chip to protect the main control chip U17.

[0061] The throwing robot of the utility model can simulate the basketball movement of human beings, freely grab the ball objects in the air or on the ground, and complete the throwing action; it has the characteristics of simple structure, easy control and the like.

[0062] In addition, the control panel of the throwing robot has the characteristics of high integration, high control accuracy, low heat generation, and long-term use.

[0063] Although the present invention has been specifically demonstrated and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes may be made to the present invention in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A throwing robot, characterized in that: It includes a base plate, and a grabbing mechanism, a ball throwing mechanism, a motion mechanism, a control panel and a battery pack installed on the base plate; The battery pack provides power; The control panel is connected to the grabbing mechanism, the ball throwing mechanism and the motion mechanism, and is used to control the grabbing mechanism to grab the ball object and place the ball object into the throwing basket of the ball throwing mechanism; control the ball throwing mechanism to throw the ball object in the throwing basket obliquely upward; and control the movement of the motion mechanism on the ground; The gripping mechanism comprises a first steering gear, a second steering gear, a third steering gear and a mechanical claw; The first steering gear is connected to the mechanical claw to control the mechanical claw to open and close in the first plane; The second steering gear is connected to the first steering gear via a connecting member, and the axis of the second steering gear is parallel to the first plane; The third steering gear and the second steering gear are connected in parallel via a connecting member, that is, the axis of the third steering gear is parallel to the axis of the second steering gear; The third steering gear is connected to the bottom plate and is used to control the two-dimensional movement of the mechanical claw in the second plane; the axis of the third steering gear is parallel to the surface where the bottom plate is located; The ball throwing mechanism comprises a throwing basket, a throwing basket bracket, an elastic element, a limiting element and an energy storage release device; The throwing basket includes a basket body and two parallel swing rods arranged on both sides of the basket body. The throwing basket bracket has two brackets, which are arranged in parallel. The bottom of the bracket is fixed above the bottom plate, and the end of the bracket is connected to the swing rod shaft, so that the throwing basket can perform circular motion. The elastic element acts on one end of the throwing basket, so that the throwing basket can perform circular motion under the action of the elastic element; The energy storage release device is used to apply force to the elastic element before throwing, so that the elastic element stores energy; and when throwing, the movement restriction of the throwing basket is released, so that the throwing basket rotates under the action of the elastic element and the ball object therein is thrown out; The limiting element is used to limit the rotation angle of the throwing basket during throwing.

2. The throwing robot according to claim 1, characterized in that: The first servo and the second servo are 180-degree dual-axis servos; the third servo is installed in a long U-shaped vertical configuration, that is, a long U-shaped bracket is provided on the shaft of the first servo, and the first servo is installed directly above the base plate through the long U-shaped bracket.

3. The throwing robot according to claim 1, characterized in that: The elastic element is a pair of symmetrically arranged elastic ropes or tension springs. The end of the throwing basket bracket is connected to the middle axis of the swing rod. The elastic element is tied between the end of the swing rod and the bottom of the throwing basket bracket, or between the end of the swing rod and the bottom plate.

4. The throwing robot according to claim 1, characterized in that: The limiting element is an elastic rope, and the elastic rope is tied between the bottom of the basket body of the throwing basket and the bottom plate.

5. The throwing robot according to claim 4, characterized in that: A smooth shaft rod parallel to the second plane is arranged at the bottom of the basket body of the throwing basket, and one end of the elastic rope is slidably tied to the smooth shaft rod.

6. The throwing robot according to claim 1, characterized in that: The energy storage tripping device comprises a reduction motor, a rocker arm and a contact rod arranged on the throwing basket; The axis of the contact rod is parallel to the second plane; The reduction motor is fixed on the base plate, and the rocker arm is arranged on the shaft of the reduction motor. The shaft of the reduction motor is perpendicular to the second plane. The rocker arm can contact the contact rod when it is rotated to a certain angle, and drive the throwing basket to rotate through the contact rod, so that one end of the basket body of the throwing basket is pressed down, and the elastic element stores energy; when the rocker arm rotates and disengages from the contact rod, the throwing basket rotates in the opposite direction under the action of the elastic element, so that the basket body at one end of the throwing basket is lifted up, completing the throwing action.

7. The throwing robot according to claim 1, characterized in that: The motion mechanism comprises four Mecanum wheels; the Mecanum wheels are mounted on the bottom of the base plate and driven by a DC motor.

8. The throwing robot according to claim 1, characterized in that: The control board includes a main control chip, a motor drive chip and a port isolation chip; the main control chip adopts a 32-bit processor; the motor drive chip adopts an H-bridge gate driver with model DRV8701E; the port isolation chip is a 74125 series bus transceiver, which is arranged between the IO port of the main control chip and the control interface of the motor drive chip.

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