CN101176823A - Portable badminton training robot - Google Patents
Portable badminton training robot Download PDFInfo
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- CN101176823A CN101176823A CNA2007101586763A CN200710158676A CN101176823A CN 101176823 A CN101176823 A CN 101176823A CN A2007101586763 A CNA2007101586763 A CN A2007101586763A CN 200710158676 A CN200710158676 A CN 200710158676A CN 101176823 A CN101176823 A CN 101176823A
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Abstract
The invention relates to a robot of badminton training, belonging to the equipment field of physical exercise training, consisting of a case cover and the machine body that is totally positioned on the chassis. As is folded, the case cover and the chassis form a closed housing. The machine body comprises a spatial linkage wired cage badmintons storing mechanism, a mechanical catch-release serve mechanism, a clutch striker on the cylindrical cam end face, a worm and gear variant force mechanism, a cushioning mechanism, a travel mechanism, a chassis, a retractable alighting gear and a telescopic pull rod. The catch-release mechanical serve mechanism that can separate the closely arranged badmintons one by one is positioned at the lower section of the spatial linkage wired cage badmintons storing mechanism, while the clutch striker on the cylindrical cam end face is positioned on the chassis. The invention has the advantages of foldable structure, compact size, good portability, low cost, big storage, convenient and reliable operation, strong practicability with the application in both specialized training and personal body-building entertainment.
Description
Technical field
The invention belongs to the sports training apparatus field, it is a kind of portable full-automatic shuttlecock trainer that is used for shuttlecock professional training and national physical training amusement.
Background technology
At present, the shuttlecock trainer volume that function is comparatively complete is too huge, can't realize that an interior fast and flexible runs, cause the striking point on the ball position single, carry inconvenience and cost is too high, be difficult to obtain penetration and promotion and use, can't adapt to the demand of nationwide fitness programs amusement.And the less relatively shuttlecock trainer function of volume is perfect inadequately, can't satisfy training requirement.
Summary of the invention
The technical issues that need to address of the present invention provide a kind of practical, the portable badminton training robot of complete function.Its complete machine is collapsible, and volume is small and exquisite, is easy to carry; Can run flexibly automatically in the field, with low cost, control flexibly.
The technical solution used in the present invention is: a kind of portable badminton training robot, form by case lid 10 and machine body, it is characterized in that, machine body all is installed on the chassis 7, folding back is installed case lid 10 and is formed closed box with chassis 7, and machine body comprises spatial pole system cage style ball contener mechanism 1, mechanical release catch type ball mechanism 2, cylindrical cam end face clutch hit agency 3, worm and gear variable force degree mechanism 4, buffer gear 5, walking mechanism 6, chassis 7, retractable landing gear 8, portable telescopic pull bar 9; Spatial pole system cage style ball contener mechanism 1 bottom that is used to store shuttlecock is equipped with and can will arranges the mechanical release catch type ball mechanism 2 that shuttlecock closely separates one by one; Cylindrical cam end face clutch hit agency 3 is installed, the air damping damping, buffering mechanism 5 of the remaining impulsive force after being used to change the worm and gear variable force degree mechanism 4 of batting dynamics and being used to absorb racket impact on the chassis 7; 7 bottoms, chassis are equipped with and are used to realize the walking of complete machine any direction and walking mechanism 6 and the portable telescopic pull bar 9 that turns to, the upper end of retractable landing gear 8 is fixed on the storage ball disc 1.3 of spatial pole system cage style ball contener mechanism 1, and the lower end of retractable landing gear 8 is fixed on the chassis 7;
Spatial pole system cage style ball contener mechanism 1 is made up of three groups of space bar fold mechanisms 1.1, nylon yarn 1.2, storage ball disc 1.3, Geneva mechanism drive motors 1.4, Geneva mechanism 1.5; Every group of space bar fold mechanism 1.1 is hinged with upper and lower two storage ball discs 1.3; Per 12 nylon yarns 1.2 are formed a tubular framework that is used to store shuttlecock; Under store up ball disc 1.3 bottoms and be consolidated with Geneva mechanism 1.5,1.4 rotations of Geneva mechanism drive motors drive storage ball disc 1.3 rotations fixed with Geneva mechanism 1.5;
Machinery release catch type ball mechanism 2 is made up of top claw 2.1, bottom claw 2.2, ball mechanism drive motors 2.3, crank 2.4, connecting rod 2.5, rocking bar 2.6; Ball mechanism drive motors 2.3 is fixed with crank 2.4, and crank 2.4, connecting rod 2.5, rocking bar 2.6, top claw 2.1, bottom claw 2.2 are hinged successively;
Cylindrical cam end face clutch hit agency 3 is made up of clutch drive motors 3.1, torsion spring 3.2, clutch axis 3.3, supporting base 3.4, chain 3.5, sprocket wheel 3.6, the half-clutch device 3.7 of active, driven half-clutch device 3.8, guide bearing post 3.9, racket clamping mechanism 3.10; Supporting base 3.4 is fixed on the robot chassis 7, and clutch axis 3.3 is installed on the supporting base 3.4, and worm gear 4.1, torsion spring 3.2, driven half-clutch device 3.8, the half-clutch device 3.7 of active are installed on the clutch axis 3.3 successively; Be processed with the cylindrical cam guide groove at half-clutch device 3.7 external cylindrical surfaces of active, its underpart is equipped with guide bearing post 3.9, and the cylindrical cam guide groove is inserted on guide bearing post 3.9 tops, and its underpart is fixed on the robot chassis 7, is located under the clutch axis 3.3; Initiatively half-clutch device 3.7 links to each other with clutch drive motors 3.1 by chain 3.5, sprocket wheel 3.6, and clutch drive motors 3.1 is fixed on the robot chassis 7, is equipped with racket clamping mechanism 3.10 on the driven half-clutch device 3.8; Racket (3.11) is fixed on the racket clamping mechanism 3.10 by screw;
Worm and gear variable force degree mechanism 4 is made up of worm gear 4.1, worm drive motor 4.2, worm screw 4.3; Worm drive motor 4.2 is fixed on the robot chassis 7, and worm screw 4.3 is fixed on the supporting base 3.4, and worm gear 4.1 is connected with torsion spring 3.2 1 ends, and worm drive motor 4.2 is connected with worm screw 4.3 1 ends;
Walking mechanism 6 is made up of two driving wheels 6.1 and two universal wheels 6.2, and two driving wheels 6.1 are screwed in the chassis 7 left-front corner, right front angle respectively, and two universal wheels 6.2 are screwed in the chassis left back, right latter two angle of 7 respectively.
The invention has the beneficial effects as follows provide a kind of folding, can in the freedom and flexibility portable full-automatic badminton training robot of running.Its volume is small and exquisite, is easy to carry, and is with low cost, and storage ball amount is big, and convenient and reliable operation is practical, can be applicable to professional training, also can be used for individual body-building recreation.
Description of drawings
The badminton training robot overall scheme of accompanying drawing 1-folded state, accompanying drawing 2-badminton training robot overall scheme carrier state, accompanying drawing 3-badminton training robot overall scheme user mode, accompanying drawing 4-machinery release catch type ball mechanism schematic diagram a, accompanying drawing 5-machinery release catch type ball mechanism schematic diagram b, accompanying drawing 6-cylindrical cam end face clutch structural scheme of mechanism.Wherein: 1-spatial pole system cage style ball contener mechanism, 1.1-space bar fold mechanism, 1.2-nylon yarn, 1.3-storage ball disc, 1.4-Geneva mechanism drive motors, 1.5-Geneva mechanism; 2-machinery release catch type ball mechanism, 2.1-top claw, 2.2-bottom claw, 2.3-ball mechanism drive motors, 2.4-crank, 2.5-connecting rod, 2.6-rocking bar; 3-cylindrical cam end face clutch hit agency, 3.1-clutch drive motors, 3.2-torsion spring, 3.3-clutch axis, 3.4-supporting base, the 3.5-chain, the 3.6-sprocket wheel, 3.7-is half-clutch device initiatively, 3.8-driven half-clutch device, 3.9-guide bearing post, 3.10-racket clamping mechanism, 3.11-racket; 4-worm and gear variable force degree mechanism, 4.1-worm gear, 4.2-worm drive motor, 4.3-worm screw; The 5-buffer gear; The 6-walking mechanism, 6.1-driving wheel, 6.2-universal wheel; The 7-chassis; 8-scissors undercarriage; 9-portable telescopic pull bar; The 10-loam cake.
The specific embodiment
Be described with reference to the accompanying drawings the specific embodiment, during use, unload loam cake 10, complete machine is opened, draw back spatial pole system cage style ball contener mechanism 4 and scissors undercarriage 8, after complete machine draws back as shown in Figure 3.Badminton head is put into spatial pole system cage style ball contener mechanism 1 down one by one.Whether spatial pole system cage style ball contener mechanism 1 is responsible for the storage shuttlecock, beaten to the greatest extent by infrared sensor detection shuttlecock in placket, plays the automatic supply in back to the greatest extent, and shuttlecock is sent in the mechanical release catch type ball mechanism 2.Machinery release catch type ball mechanism 2 is responsible for arranging closely, and shuttlecock separates one by one, the shuttlecock of realizing at every turn dropping for the ball action, match with cylindrical cam end face clutch hit agency 3 and to finish stroke.Adjust the variation of the batting elevation angle by controlling mechanical release catch type ball mechanism 2 with difference actuation time of cylindrical cam end face clutch hit agency 3, thus control batting height.Worm and gear variable force degree mechanism 2 is responsible for changing batting dynamics size.Buffer gear 5 is an air damping damping, buffering mechanism, and the remaining impulsive force after being used to absorb racket and impacting is avoided the racket damage.Walking mechanism 6 is made of pair of parallel driving wheel 6.1 and two universal wheels 6.2, and two driving wheels 6.1 link to each other by shaft coupling with the motor of a pair of identical free band self-locking speed-down device respectively.Simultaneously during forward or reverse, robot advances or retreats with identical rotating speed for two motor; The single motor rotation realizes that complete machine rotates around another driving wheel, finishes go to action.7 bottoms, chassis are equipped with portable telescopic pull bar 9, are easy to carry.The circuit control section is by the sensor image data, and the single-chip microcomputer real-time response is coordinated each mechanical part work of control.
Three space bar fold mechanisms 1.1 of spatial pole system cage style ball contener mechanism 1 are realized folder function with two storage ball discs 1.3 are hinged up and down, play to reduce volumetric.Two were stored up on the ball disc 1.3 about nylon yarn 1.2 two ends were consolidated in respectively, and after space bar fold mechanism 1.1 launched, nylon yarn 1.2 was straightened, and per 12 nylon yarns 1.2 are formed a tubular framework, are used to store shuttlecock.Storage ball disc 1.3 bottoms are provided with Geneva mechanism 1.5, and when detecting after the forecourt tube does not have ball, Geneva mechanism drive motors 1.4 rotates a circle, and drive storage ball disc 1.3 rotations 60 degree fixed with Geneva mechanism 1.5, and the shuttlecock of next ball tube is sent into storage ball mechanism 2.All beat to the greatest extent until all balls, complete machine stops action.Motor rotates a circle at every turn and controls by the Hall components and parts.After training finishes, the line cage can be packed up, whole space mechanism is punctured into a plane, reaches to reduce volume, strengthens the purpose of storage ball amount.
The ball mechanism drive motors 2.3 of machinery release catch type ball mechanism 2 is fixed with crank 2.4, drive its rotation, crank 2.4, connecting rod 2.5, rocking bar 2.6, top claw 2.1, bottom claw 2.2 are hinged successively, produce periodically reciprocating action, and its action can be divided into state A and state B.State A: top claw 2.1 chucking, bottom claw 2.2 unclamps, and is in that the shuttlecock of below drops, and shuttlecock is held by top claw 2.1 it on, realizes moving for ball and falling sphere.State B: bottom claw 2.2 chuckings, top claw 2.1 unclamps, and the shuttlecock that is blocked by top claw 2.1 among the state A falls, and is held by the bottom claw 2.2 among the state B, finishes feed motion.Detect by Hall element, SCM program control motor rotates a circle at every turn, A, and the B state is back and forth carried out once, and shuttlecock drops one.
Cylindrical cam end face clutch hit agency 3 can be converted into the unidirectional rotary motion of motor the stroke of back and forth swinging the bat of racket.Its initiatively half-clutch device 3.7 links to each other with clutch drive motors 3.1 by chain 3.5, sprocket wheel 3.6, and chain 3.5 passes to initiatively half-clutch device 3.7 with the moment of torsion of motor 3.1.Thereby initiatively half-clutch device 3.7 is done unidirectional at the uniform velocity rotation with clutch drive motors 3.1.In order to realize producing periodically clutch action by a unidirectional rotation of power source, process the cylindrical cam guide groove at half-clutch device 3.7 external cylindrical surfaces of active, guide groove is designed to produce the periodically closed slots of axial displacement with the clutch anglec of rotation.Its underpart is equipped with guide bearing post 3.9, and the cylindrical cam guide groove is stretched on guide bearing post 3.9 tops, and its underpart is fixed on the robot chassis 7, is located under the clutch axis 3.3.When the directed rotation of initiatively half-clutch device, the cylindrical cam guide groove is subjected to 3.9 effects of guide bearing post, causes initiatively half-clutch device 3.7 axially reciprocatings, thereby causes periodically clutch action, drives driven half-clutch device 3.8 execution cycle property and impacts behavior.
Worm drive motor 4.2 rotations of worm and gear variable force degree mechanism 4 drive worm screw 4.3, worm gear 4.1 rotates, thereby change torsion spring 3.2 pretightning forces, change the batting dynamics.Because worm-and-wheel gear has good self-locking property, it is constant to rest on constant position after 4.2 outages of worm drive motor, and then guarantees constant batting dynamics.Get worm-and-wheel gear modulus m=1, number of threads Z1=1, worm gear number of teeth Z2=66, gearratio i=66.
Can be after the use with the folding gathering of complete machine.Pack up spatial pole system cage style ball contener mechanism 4 and scissors undercarriage 8, loam cake 10 is installed, loam cake 10 forms closed box with chassis 7, finishes portable drag function by portable telescopic pull bar 9.
This portable badminton training robot volume is small and exquisite, it is big, multiple functional, practical to be easy to carry, to store up the ball amount.Be not only applicable to professional shuttlecock training, can be used for individual body-building recreation yet.
Described badminton training robot performance parameter is as follows: batting frequency: 0-100 time/minute, drop point diameter: in the 1.5m, hitting distance: 3m-13m, batting peak height: 1.6m-7m, maximum horizontal cone of coverage: 360 °, the complete machine quality: in the 15kg, machine volume: less than 300mm * 300mm * 250mm.
Claims (1)
1. portable badminton training robot, form by case lid (10) and machine body, it is characterized in that, machine body all is installed on the chassis (7), folding back is installed case lid (10) and is formed closed box with chassis (7), and machine body comprises spatial pole system cage style ball contener mechanism (1), mechanical release catch type ball mechanism (2), cylindrical cam end face clutch hit agency (3), worm and gear variable force degree mechanism (4), buffer gear (5), walking mechanism (6), chassis (7), retractable landing gear (8), portable telescopic pull bar (9); Spatial pole system cage style ball contener mechanism (1) bottom that is used to store shuttlecock is equipped with and can will arranges the mechanical release catch type ball mechanism (2) that shuttlecock closely separates one by one; Cylindrical cam end face clutch hit agency (3) is installed, the air damping damping, buffering mechanism (5) of the remaining impulsive force after being used to change the worm and gear variable force degree mechanism (4) of batting dynamics and being used to absorb racket impact on the chassis (7); Bottom, chassis (7) is equipped with and is used to realize the walking of complete machine any direction and walking mechanism that turns to (6) and portable telescopic pull bar (9), the upper end of retractable landing gear (8) is fixed on the storage ball disc (1.3) of spatial pole system cage style ball contener mechanism (1), and the lower end of retractable landing gear (8) is fixed on the chassis (7); Spatial pole system cage style ball contener mechanism (1) is made up of three groups of space bar fold mechanisms (1.1), nylon yarn (1.2), storage ball disc (1.3), Geneva mechanism drive motors (1.4), Geneva mechanism (1.5); Every group of space bar fold mechanism (1.1) is hinged with upper and lower two storage ball discs (1.3); Per 12 nylon yarns (1.2) are formed a tubular framework that is used to store shuttlecock; Under store up ball disc (1.3) bottom and be consolidated with Geneva mechanism (1.5), Geneva mechanism drive motors (1.4) rotation drives storage ball disc (1.3) rotation fixed with Geneva mechanism (1.5);
Machinery release catch type ball mechanism (2) is made up of top claw (2.1), bottom claw (2.2), ball mechanism drive motors (2.3), crank (2.4), connecting rod (2.5), rocking bar (2.6); Ball mechanism drive motors (2.3) and crank (2.4) are fixed, and crank (2.4), connecting rod (2.5), rocking bar (2.6), top claw (2.1), bottom claw (2.2) are hinged successively;
Cylindrical cam end face clutch hit agency (3) is made up of clutch drive motors (3.1), torsion spring (3.2), clutch axis (3.3), supporting base (3.4), chain (3.5), sprocket wheel (3.6), active half-clutch device (3.7), driven half-clutch device (3.8), guide bearing post (3.9), racket clamping mechanism (3.10); Supporting base (3.4) is fixed on the robot chassis (7), clutch axis (3.3) is installed on the supporting base (3.4), worm gear (4.1), torsion spring (3.2), driven half-clutch device (3.8), active half-clutch device (3.7) are installed on the clutch axis (3.3) successively; Be processed with the cylindrical cam guide groove at active half-clutch device (3.7) external cylindrical surface, its underpart is equipped with guide bearing post (3.9), the cylindrical cam guide groove is inserted on guide bearing post (3.9) top, and its underpart is fixed on the robot chassis (7), is located under the clutch axis (3.3); Initiatively half-clutch device (3.7) links to each other with clutch drive motors (3.1) by chain (3.5), sprocket wheel (3.6), clutch drive motors (3.1) is fixed on the robot chassis (7), is equipped with racket clamping mechanism (3.10) on the driven half-clutch device (3.8); Racket (3.11) is fixed on the racket clamping mechanism (3.10) by screw;
Worm and gear variable force degree mechanism (4) is made up of worm gear (4.1), worm drive motor (4.2), worm screw (4.3); Worm drive motor (4.2) is fixed on the robot chassis (7), and worm screw (4.3) is fixed on the supporting base (3.4), and worm gear (4.1) is connected with torsion spring (3.2) one ends, and worm drive motor (4.2) is connected with worm screw (4.3) one ends;
Walking mechanism (6) is made up of two driving wheels (6.1) and two universal wheels (6.2), two driving wheels (6.1) are screwed the left-front corner of in the chassis (7), right front angle respectively, and two universal wheels (6.2) are screwed left back, right latter two angle of in the chassis (7) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101586763A CN101176823B (en) | 2007-11-30 | 2007-11-30 | Portable badminton training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101586763A CN101176823B (en) | 2007-11-30 | 2007-11-30 | Portable badminton training robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101176823A true CN101176823A (en) | 2008-05-14 |
| CN101176823B CN101176823B (en) | 2010-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101586763A Expired - Fee Related CN101176823B (en) | 2007-11-30 | 2007-11-30 | Portable badminton training robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102363072A (en) * | 2011-11-17 | 2012-02-29 | 中国科学院深圳先进技术研究院 | Badminton partner training robot mechanism |
| CN102363073A (en) * | 2011-11-17 | 2012-02-29 | 中国科学院深圳先进技术研究院 | Badminton partner training robot mechanism |
| CN104984533A (en) * | 2015-06-17 | 2015-10-21 | 电子科技大学 | Striking-back platform and striking-back method of mobile object |
| CN105690409A (en) * | 2016-05-02 | 2016-06-22 | 高小秒 | Badminton training robot |
| CN108671518A (en) * | 2018-07-31 | 2018-10-19 | 大连理工大学 | Intelligent badminton service robot based on crank guide rod mechanism |
| CN110270070A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of multimode shuttlecock is received robot |
| CN110613925A (en) * | 2018-06-20 | 2019-12-27 | 天津工业大学 | Power-storage type badminton training robot |
| CN114797047A (en) * | 2021-01-19 | 2022-07-29 | 陈贺龄 | Partner training robot, control method and control system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6752138B2 (en) * | 2002-04-12 | 2004-06-22 | Jonathan Taryoto | Shuttlecock launcher and method for launching |
| CN2631572Y (en) * | 2003-07-07 | 2004-08-11 | 北京航空航天大学 | Automatic shuttle servicing device |
| CN2787269Y (en) * | 2004-12-20 | 2006-06-14 | 裘百灵 | Badminton service robot |
| CN100355472C (en) * | 2004-12-28 | 2007-12-19 | 中机生产力促进中心 | Full automatic ball serving machine for badminton |
| CN100469408C (en) * | 2006-10-18 | 2009-03-18 | 深圳大学 | Partner training equipment for badminton game |
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2007
- 2007-11-30 CN CN2007101586763A patent/CN101176823B/en not_active Expired - Fee Related
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| CN102363072A (en) * | 2011-11-17 | 2012-02-29 | 中国科学院深圳先进技术研究院 | Badminton partner training robot mechanism |
| CN102363073A (en) * | 2011-11-17 | 2012-02-29 | 中国科学院深圳先进技术研究院 | Badminton partner training robot mechanism |
| CN102363072B (en) * | 2011-11-17 | 2014-01-08 | 中国科学院深圳先进技术研究院 | Badminton partner training robot mechanism |
| CN102363073B (en) * | 2011-11-17 | 2014-01-08 | 中国科学院深圳先进技术研究院 | Badminton partner training robot mechanism |
| CN104984533A (en) * | 2015-06-17 | 2015-10-21 | 电子科技大学 | Striking-back platform and striking-back method of mobile object |
| CN104984533B (en) * | 2015-06-17 | 2018-10-19 | 电子科技大学 | A kind of mobile object fights back platform and fights back method |
| CN105690409B (en) * | 2016-05-02 | 2017-06-30 | 吉首大学 | A kind of badminton training robot |
| CN105690409A (en) * | 2016-05-02 | 2016-06-22 | 高小秒 | Badminton training robot |
| CN110270070A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of multimode shuttlecock is received robot |
| CN110613925A (en) * | 2018-06-20 | 2019-12-27 | 天津工业大学 | Power-storage type badminton training robot |
| CN108671518A (en) * | 2018-07-31 | 2018-10-19 | 大连理工大学 | Intelligent badminton service robot based on crank guide rod mechanism |
| CN108671518B (en) * | 2018-07-31 | 2023-11-07 | 大连理工大学 | Intelligent badminton pitching machine based on crank guide rod mechanism |
| CN114797047A (en) * | 2021-01-19 | 2022-07-29 | 陈贺龄 | Partner training robot, control method and control system |
| CN114797047B (en) * | 2021-01-19 | 2024-02-27 | 陈贺龄 | Partner training robot, control method and control system |
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| CN101176823B (en) | 2010-06-16 |
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Granted publication date: 20100616 Termination date: 20121130 |