Table type table tennis robot

Abstract

The utility model provides a table type table tennis robot which comprises a rotating arm and a moving device, the rotating arm is in sliding connection with the moving device, the rotating arm comprises a sliding base, a supporting device, a first driving mechanism, a second driving mechanism, a third driving mechanism, a fourth driving mechanism, a main arm, an auxiliary arm and a waving joint, the main arm is located in the vertical Y direction, and the auxiliary arm is located in the vertical Y direction. A supporting device is mounted on the sliding base, a rotatable main arm is supported above the supporting device, a mounting space is formed between the sliding base and the main arm through the supporting device, a first driving mechanism is mounted in the mounting space, and the moving device comprises a bottom plate, a driving device, a transmission mechanism and a guide device; the transmission mechanism is used for driving the sliding base to slide and translate on the guide device. The sliding base of the table type table tennis robot can bear the main arm, meanwhile, the first driving mechanism drives the main arm to rotate, the moving device drives the sliding base to horizontally move through the transmission mechanism, and the ball hitting range of the mechanical arm is enlarged.

Description

Technical Field

[0001] The utility model relates to a device for simulating table tennis playing movements, in particular to a desktop table tennis robot. Background Art

[0002] With the development of automation technology, innovation is also emerging in the field of sports training. The introduction of table tennis training robots offers athletes a new training method. These robots not only engage in continuous sparring with players but also provide customized training programs based on their specific needs and weaknesses. Compared to traditional ball-serving machines, these robots have achieved significant breakthroughs in improving athlete skills and deepening training.

[0003] Patent No. CN202321464773.6 discloses a table tennis robot arm comprising a base, a main arm, a secondary arm, a terminal joint, and a table tennis racket holder. The secondary arm is rotatably mounted relative to the primary arm. The main arm is held in an upright position, and the base includes a first drive mechanism that drives the main arm to rotate relative to the base along a vertical axis. The main arm includes a second drive mechanism that drives the secondary arm to rotate relative to the main arm. The main arm also includes a third drive mechanism and a fourth drive mechanism that establish drive connections with the terminal joint and the table tennis racket holder via a first transmission mechanism and a second transmission mechanism, respectively. However, the present invention has the following drawbacks: There is no support structure between the base and the main arm, preventing the main arm from rotating more stably. The base also lacks a sliding mechanism, so the entire arm can only catch balls within a relatively small range, failing to meet the requirement for catching balls within a large range. Utility Model Content

[0004] The utility model provides a table-top table tennis robot, which solves the problem in the prior art that the entire robot arm has a small ball-catching range due to the lack of a sliding device on the base.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical solution: The present invention provides a tabletop table tennis robot, comprising: a rotating arm and a moving device, wherein the rotating arm is slidably connected to the moving device;

[0006] The rotating arm includes: a sliding base, a supporting device, a first driving mechanism, a second driving mechanism, a third driving mechanism, a fourth driving mechanism, a main arm, a sub-arm and a swinging joint, the main arm is located in the vertical Y direction, the supporting device is installed on the sliding base, the supporting device supports the rotatable main arm above, the supporting device forms an installation space between the sliding base and the main arm, the first driving mechanism is installed in the installation space, the output end of the first driving mechanism is connected to the main arm, the first driving mechanism is used to drive the main arm to rotate around the axis located in the Y direction, a second driving mechanism is provided at the connection between the top of the main arm and one end of the sub-arm, the second driving mechanism is used to drive the sub-arm to rotate relative to the main arm around the axis located in the Z direction, the other end of the sub-arm is connected to the swinging joint and a third driving mechanism is provided at one end, the third driving mechanism is used to drive the swinging joint to rotate relative to the sub-arm around the axis located in the Y direction;

[0007] The moving device includes: a base plate, a driving device, a transmission mechanism and a guide device. The base plate is used to be placed on the work surface. The driving device is located at one end of the base plate. The output end of the driving device is connected to the transmission mechanism. A guide device is installed on the base plate. The sliding base is slidably connected to the guide device. The guide device is used to guide the sliding base to move in the X direction. The sliding base is fixedly connected to the transmission mechanism. The transmission mechanism is used to drive the sliding base to slide and translate on the guide device.

[0008] Preferably, the supporting device includes: a support rod, an upper positioning ring, a lower positioning ring, a positioning disc and a rotating disc, there are at least two support rods, the support rod is fixedly connected to the top surface of the sliding base, the support rod passes through the positioning disc, and the support rod is fixed to the rotating disc, an installation space is formed between the positioning disc and the sliding base, the first driving mechanism is fixed on the positioning disc, the lower positioning ring is supported by the support rod, an upper positioning ring is arranged above the lower positioning ring, the upper positioning ring and the lower positioning ring are both passed through by a screw, the large end of the screw is pressed on the upper positioning ring, the small end of the screw is threadedly connected to the support rod, the rotating disc is clamped between the upper positioning ring and the lower positioning ring, and the rotating disc is used to connect to the output end of the first driving mechanism.

[0009] Preferably, the rotating disc includes: a clamped ring, an upper fixed disc and a lower fixed disc, the clamped ring is clamped between the upper positioning ring and the lower positioning ring, the upper fixed disc is installed above the clamped ring, and the lower fixed disc is installed below the clamped ring, and the upper fixed disc and the lower fixed disc are both passed through the output end of the first driving mechanism.

[0010] Preferably, the driving device is a driving motor, and the output end of the driving motor is connected to the transmission mechanism.

[0011] Preferably, the transmission mechanism includes: a belt, a first pulley, a second pulley and a positioning arm, the positioning arm is located on the end of the base plate away from the driving device, two positioning arms are provided, the second pulley is rotatably connected between the two positioning arms, the first pulley is installed at the output end of the driving motor, the belt is wrapped around the first pulley and the second pulley, and the belt is connected to the sliding base.

[0012] Preferably, the guide device includes: a first guide block, a second guide block and a sliding table, the first guide block is located on the side of the second guide block away from the transmission mechanism, the direction of the first guide block and the second guide block is located in the X direction, a guide groove is opened in the middle of the surface of the first guide block, a sliding table that can slide is provided above the first guide block, the top surface of the sliding table is fixedly connected to the sliding base, a sliding sheet is connected to the bottom of the sliding table, the sliding sheet is slidably connected to the guide groove, a sliding groove body is installed on the sliding base next to the sliding table, and the sliding groove body is sleeved outside the second guide block.

[0013] Preferably, the main arm includes: two arm frames and a fixing plate, the two arm frame ends are connected by the fixing plate, the fixing plate located below the arm frame is connected to the upper fixing plate, and the fixing plate located above the arm frame is installed with the second driving mechanism.

[0014] Preferably, one end of the auxiliary arm is connected to the output end of the second driving mechanism, and the other end of the auxiliary arm is provided with a third driving mechanism.

[0015] Preferably, the output end of the third driving mechanism is connected to one end of the swinging joint, and the other end of the swinging joint is connected to the table tennis racket through the fourth driving mechanism.

[0016] Compared with the existing technology, the utility model has the following beneficial effects: this desktop table tennis robot uses a support device arranged on a sliding base to control the robot's main arm, and the support device is provided with a support rod, an upper positioning ring, a lower positioning ring, a positioning disk and a rotating disk. The support rod can support the upper positioning ring and the lower positioning ring, and the rotating disk rotates relative to the upper positioning ring and the lower positioning ring. The first driving mechanism is fixed on the positioning disk. When the first driving mechanism rotates, the sliding base can support the main arm while the first driving mechanism drives the main arm to rotate; the sliding base is connected to the moving device, and the moving device is provided with a driving device. When the driving device drives the belt transmission, the belt can drive the sliding base to move horizontally, thereby increasing the hitting range of the robot arm.

[0017] Other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of a table tennis robot.

[0019] Figure 2This is a partial picture of a table tennis robot.

[0020] Figure 3 This is a partial picture of a table tennis robot.

[0021] Figure 4 Schematic diagram of a table tennis robot.

[0022] Reference numerals: rotating arm 1, sliding base 11, sliding trough 111, supporting device 12, supporting rod 121, upper positioning ring 122, lower positioning ring 123, positioning disc 124, rotating disc 125, clamped ring 1251, upper fixed disc 1252, lower fixed disc 1253, first driving mechanism 13, second driving mechanism 14, third driving mechanism 15, fourth driving mechanism 16, main arm 17, arm frame 171, fixed plate 172, auxiliary arm 18, swing joint 19, moving device 2, bottom plate

[0023] 21 , driving device 22 , transmission mechanism 23 , belt 231 , first pulley 232 , second pulley 233 , positioning arm 234 , guide device 24 , first guide block 241 , second guide block 242 , sliding platform 243 , guide groove 244 . DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and functions of the present invention clearer and easier to understand, the present invention is further described below with reference to the accompanying drawings and specific embodiments:

[0025] like Figures 1 to 4 As shown, the utility model proposes a table tennis robot, comprising: a rotating arm 1 and a moving device 2, wherein the rotating arm 1 is slidably connected to the moving device 2;

[0026] The rotating arm 1 includes: a sliding base 11, a supporting device 12, a first driving mechanism 13, a second driving mechanism 14, a third driving mechanism 15, a fourth driving mechanism 16, a main arm 17, an auxiliary arm 18 and a swing joint 19. The main arm 17 is located in the vertical Y direction. The supporting device 12 is installed on the sliding base 11. The supporting device 12 supports the rotatable main arm 17 above. The supporting device 12 forms an installation space between the sliding base 11 and the main arm 17. The first driving mechanism 13 is installed in the installation space. The first driving mechanism 15 and the auxiliary arm 18 are installed in the installation space. The output end of the main arm 17 is connected to the main arm 17. The first driving mechanism 13 is used to drive the main arm 17 to rotate about the axis in the Y direction. A second driving mechanism 14 is provided at the connection between the top of the main arm 17 and one end of the auxiliary arm 18. The second driving mechanism 14 is used to drive the auxiliary arm 18 to rotate relative to the main arm 17 about the axis in the Z direction. The other end of the auxiliary arm 18 is connected to the swing joint 19. A third driving mechanism 15 is provided at one end. The third driving mechanism 15 is used to drive the swing joint 19 to rotate relative to the auxiliary arm 18 about the axis in the Y direction.

[0027] The mobile device 2 includes: a base plate 21, a driving device 22, a transmission mechanism 23 and a guide device 24. The base plate 21 is used to be placed on the work surface. The driving device 22 is located at one end of the base plate 21. The output end of the driving device 22 is connected to the transmission mechanism 23. A guide device 24 is installed on the base plate 21. The sliding base 11 is slidably connected to the guide device 24. The guide device 24 is used to guide the sliding base 11 to move in the X direction. The sliding base 11 is fixedly connected to the transmission mechanism 23. The transmission mechanism 23 is used to drive the sliding base 11 to slide and translate on the guide device 24. The mobile device 2 controls the rotating arm 1 to move back and forth on the mobile device 2 through the transmission mechanism 23 according to the direction of the incoming table tennis ball.

[0028] The supporting device 12 includes: a supporting rod 121, an upper positioning ring 122, a lower positioning ring 123, a positioning disc 124 and a rotating disc 125. The supporting rod 121 has at least two, and the supporting rod 121 is fixedly connected to the top surface of the sliding base 11. The supporting rod 121 passes through the positioning disc 124, and the supporting rod 121 and the rotating disc 125 are fixed. An installation space is formed between the positioning disc 124 and the sliding base 11. The first driving mechanism 13 is fixed on the positioning disc 124, and the lower positioning ring 123 is supported by the supporting rod 121. An upper positioning ring 122 is arranged above the lower positioning ring 123. The upper positioning ring 122 and the lower positioning ring 123 are both passed through by a screw, and the large end of the screw is pressed on the upper positioning ring 122. The small end of the screw is threadedly connected to the supporting rod 121, and the rotating disc 125 is clamped between the upper positioning ring 122 and the lower positioning ring 123. The rotating disc 125 is used to be connected to the output end of the first driving mechanism 13. The positioning ring and the support rod 121 form a support for the main arm 17. At the same time, the first driving mechanism 13 can drive the rotating disk 125 to rotate, thereby driving the main arm 17 to rotate along the Y-axis direction.

[0029] The rotating disc 125 includes: a clamped ring 1251, an upper fixed disc 1252, and a lower fixed disc 1253. The clamped ring 1251 is clamped between the upper positioning ring 122 and the lower positioning ring 123. The upper fixed disc 1252 is installed above the clamped ring 1251, and the lower fixed disc 1253 is installed below the clamped ring 1251. The upper fixed disc 1252 and the lower fixed disc 1253 are both passed through by the output end of the first driving mechanism 13. When the first driving mechanism 13 rotates, it drives the upper fixed disc 1252 and the lower fixed disc 1253 to rotate synchronously, and the upper fixed disc 1252 drives the main arm 17 to rotate along the vertical Y axis.

[0030] The driving device 22 is a driving motor, and an output end of the driving motor is connected to the transmission mechanism 23 .

[0031] The transmission mechanism 23 includes a belt 231, a first pulley 232, a second pulley 233, and a positioning arm 234. The positioning arm 234 is located on the end of the base plate 21 away from the drive device 22. Two positioning arms 234 are provided, and the second pulley 233 is rotatably connected between the two positioning arms 234. The first pulley 232 is mounted on the output end of the drive motor. The belt 231 is wrapped around the first pulley 232 and the second pulley 233, and the belt 231 is connected to the sliding base 11. The drive motor drives the first pulley 232 to rotate, and the first pulley 232 drives the belt 231 to transmit back and forth between the first pulley 232 and the second pulley 233.

[0032] The guide device 24 includes: a first guide block 241, a second guide block 242 and a sliding platform 243. The first guide block 241 is located on the side of the second guide block 242 away from the transmission mechanism 23. The direction of the first guide block 241 and the second guide block 242 is in the X direction. A guide groove 244 is opened in the middle of the surface of the first guide block 241. A sliding platform 243 that can slide is provided above the first guide block 241. The top surface of the sliding platform 243 is fixedly connected to the sliding base 11. A sliding piece is connected to the bottom of the sliding platform 243. The sliding piece is slidably connected to the guide groove 244. A sliding groove body 111 is installed on the sliding base 11 and is located next to the sliding platform 243. The sliding groove body 111 is mounted on the outside of the second guide block 242. When the drive motor is working, the belt 231 can drive the sliding platform 243 to move on the first guide block 241 and the second guide block 242.

[0033] The main arm 17 comprises two arm frames 171 and a fixing plate 172. The ends of the two arm frames 171 are connected by the fixing plate 172. The fixing plate 172 located below the arm frames 171 is connected to the upper fixing plate 1252. The fixing plate 172 located above the arm frames 171 is mounted with the second drive mechanism 14. The main arm 17 controls the swing of the table tennis racket along the Y-axis.

[0034] One end of the auxiliary arm 18 is connected to the output end of the second driving mechanism 14, and the other end of the auxiliary arm 18 is provided with the third driving mechanism 15. The auxiliary arm 18 controls the table tennis racket to rotate along the Z-axis direction.

[0035] The output end of the third driving mechanism 15 is connected to one end of the swing joint 19, and the other end of the swing joint 19 is connected to the table tennis racket through the fourth driving mechanism 16. The swing joint 19 can control the table tennis racket to rotate along the X axis.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model and are not limiting. Although the utility model is described in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A table tennis robot, characterized in that: include: A rotating arm (1) and a moving device (2), wherein the rotating arm (1) and the moving device (2) are slidably connected; The rotating arm (1) comprises: a sliding base (11), a supporting device (12), a first driving mechanism (13), a second driving mechanism (14), a third driving mechanism (15), a fourth driving mechanism (16), a main arm (17), an auxiliary arm (18) and a swing joint (19); the main arm (17) is located in the vertical Y direction; the supporting device (12) is installed on the sliding base (11); the supporting device (12) supports the main arm (17) which can rotate; the supporting device (12) forms an installation space between the sliding base (11) and the main arm (17); the first driving mechanism (13) is installed in the installation space; the first driving mechanism (15) is installed in the installation space; the auxiliary arm (18) is installed in the installation space; the auxiliary arm (18) is installed in the installation space; the auxiliary arm (19 ... The output end of the mechanism (13) is connected to the main arm (17), the first driving mechanism (13) is used to drive the main arm (17) to rotate around the axis located in the Y direction, the second driving mechanism (14) is provided at the connection between the top of the main arm (17) and one end of the auxiliary arm (18), the second driving mechanism (14) is used to drive the auxiliary arm (18) to rotate around the axis located in the Z direction relative to the main arm (17), the other end of the auxiliary arm (18) is connected to the swing joint (19) and the third driving mechanism (15) is provided at one end, the third driving mechanism (15) is used to drive the swing joint (19) to rotate around the axis located in the Y direction relative to the auxiliary arm (18); The moving device (2) comprises: a base plate (21), a driving device (22), a transmission mechanism (23) and a guide device (24); the base plate (21) is used for being placed on a working surface; the driving device (22) is located at one end of the base plate (21); the output end of the driving device (22) is connected to the transmission mechanism (23); a guide device (24) is installed on the base plate (21); the sliding base (11) is slidably connected to the guide device (24); the guide device (24) is used for guiding the sliding base (11) to move in the X direction; the sliding base (11) is fixedly connected to the transmission mechanism (23); and the transmission mechanism (23) is used for driving the sliding base (11) to slide and translate on the guide device (24).

2. A table tennis robot according to claim 1, characterized in that: The supporting device (12) comprises: a supporting rod (121), an upper positioning ring (122), a lower positioning ring (123), a positioning disc (124) and a rotating disc (125), wherein there are at least two supporting rods (121), the supporting rods (121) are fixedly connected to the top surface of the sliding base (11), the supporting rod (121) passes through the positioning disc (124), and the supporting rod (121) and the rotating disc (125) are fixed, and an installation space is formed between the positioning disc (124) and the sliding base (11), and the first driving mechanism (13) is fixed on On the positioning disc (124), a lower positioning ring (123) is supported by a support rod (121), an upper positioning ring (122) is arranged above the lower positioning ring (123), the upper positioning ring (122) and the lower positioning ring (123) are both passed through by a screw, the large end of the screw is pressed against the upper positioning ring (122), and the small end of the screw is threadedly connected to the support rod (121), and a rotating disc (125) is clamped between the upper positioning ring (122) and the lower positioning ring (123), and the rotating disc (125) is used to be connected to the output end of the first driving mechanism (13).

3. A table tennis robot according to claim 2, characterized in that: The rotating disc (125) comprises: a clamped ring (1251), an upper fixed disc (1252) and a lower fixed disc (1253); the clamped ring (1251) is clamped between the upper positioning ring (122) and the lower positioning ring (123); the upper fixed disc (1252) is installed above the clamped ring (1251); the lower fixed disc (1253) is installed below the clamped ring (1251); and the upper fixed disc (1252) and the lower fixed disc (1253) are both passed through by the output end of the first driving mechanism (13).

4. A table tennis robot according to claim 3, characterized in that: The driving device (22) is a driving motor, and the output end of the driving motor is connected to the transmission mechanism (23).

5. A tabletop table tennis robot according to claim 4, characterized in that: The transmission mechanism (23) comprises: a belt (231), a first pulley (232), a second pulley (233) and a positioning arm (234); the positioning arm (234) is located on the bottom plate (21) at one end away from the driving device (22); two positioning arms (234) are provided; the second pulley (233) is rotatably connected between the two positioning arms (234); the first pulley (232) is installed at the output end of the driving motor; the belt (231) is wrapped around the first pulley (232) and the second pulley (233); and the belt (231) is connected to the sliding base (11).

6. A tabletop table tennis robot according to claim 5, characterized in that: The guide device (24) comprises: a first guide block (241), a second guide block (242) and a sliding platform (243); the first guide block (241) is located on the side of the second guide block (242) away from the transmission mechanism (23); the direction of the first guide block (241) and the second guide block (242) is located in the X direction; a guide groove (244) is provided in the middle of the surface of the first guide block (241); a sliding platform (243) capable of sliding is provided above the first guide block (241); the top surface of the sliding platform (243) is fixedly connected to the sliding base (11); a sliding sheet is connected to the bottom of the sliding platform (243); the sliding sheet is slidably connected to the guide groove (244); a sliding groove body (111) located next to the sliding platform (243) is installed on the sliding base (11); the sliding groove body (111) is sleeved outside the second guide block (242).

7. A table tennis robot according to claim 6, characterized in that: The main arm (17) comprises two arm frames (171) and a fixing plate (172). The ends of the two arm frames (171) are connected via the fixing plate (172). The fixing plate (172) located below the arm frames (171) is connected to the upper fixing plate (1252). The fixing plate (172) located above the arm frames (171) is installed with a second driving mechanism (14).

8. The tabletop table tennis robot according to claim 7, characterized in that: One end of the auxiliary arm (18) is connected to the output end of the second driving mechanism (14), and the other end of the auxiliary arm (18) is provided with a third driving mechanism (15).

9. The tabletop table tennis robot according to claim 8, characterized in that: The output end of the third driving mechanism (15) is connected to one end of the swinging joint (19), and the other end of the swinging joint (19) is connected to the table tennis racket through the fourth driving mechanism (16).

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