CN101954179B - Serving mechanism for mechanical arm - Google Patents
Serving mechanism for mechanical arm Download PDFInfo
- Publication number
- CN101954179B CN101954179B CN200910012542XA CN200910012542A CN101954179B CN 101954179 B CN101954179 B CN 101954179B CN 200910012542X A CN200910012542X A CN 200910012542XA CN 200910012542 A CN200910012542 A CN 200910012542A CN 101954179 B CN101954179 B CN 101954179B
- Authority
- CN
- China
- Prior art keywords
- slide block
- lock chamber
- baffle plate
- pipeline
- countercheck rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The invention discloses a serving mechanism for a robot arm, which belongs to the technical field of robots. The serving mechanism comprises a motor cabinet, a ball-conveying pipe, an ejection device and a blocking device, wherein the ball-conveying pipe, the ejection device and the blocking device are fixed on the motor cabinet; the ball-conveying pipe is connected with a serving pipe of the ejection device, and a blocking bar of the blocking device extends to the serving pipe of the ejection device. The invention is composed of the ball-conveying pipe, the ejection device and the blocking device fixed on the motor cabinet and fitted with one another, is simple and compact in structure and easy to arrange, does not take up more spaces, and can achieve the purpose of operating just through a simple structure. The ejection device of the invention is provided with a slider adjusting bolt for adjusting the elastic force of a spring so as to lead the ejection force of serving to be adjustable; the blocking bar of the blocking device is arranged in a ball groove in the ball-conveying pipe and used for fixing table tennis well; and a motor-driven bump drives a slider baffle, thereby driving the slider to move, and then triggering the table tennis under the action of the elastic force of the spring on the slider. The invention is good in serving effect, reliable and practical.
Description
Technical field
The invention belongs to the Robotics field, particularly relate to a kind of serving mechanism that is used for mechanical arm.
Background technology
The table tennis ball serving technology comes into operation at present, and the table tenning ball servicing machine of selling on the market is a lot.Can be divided into two types on the ball mode from going out: one type is single wheel drive, and another kind of is that two-wheel drives.It is to lean on a friction pulley to accomplish service that single opinion drives, and friction pulley is positioned at a side of table tennis, and by motor direct-drive, the shortcoming of this type of drive is that table tennis receives force unbalance, and the service circuit is inaccurate.Extensive use now be that two-wheel drives; It is to lean on two friction pulleys to accomplish service that two-wheel drives, and friction pulley is positioned at the table tennis both sides, by motor direct-drive; This type of drive can send out the upper and lower, left and right spiral any; And on the various sides, mix spiral under the side, the speed rotation is adjustable respectively, but also knuckle service simultaneously.But no matter being which kind of type of drive, all is that service is accomplished in the friction of roller, so the dynamics of generally serving a ball is all bigger, and volume, quality are also very big.Because the design's catapult-launching gear is mounted on the mechanical arm, so volume, quality requirement are little; Accomplishing of task is closely to serve a ball, and the dynamics of requirement is little, so designed the serving mechanism that can satisfy above-mentioned requirements again.
Summary of the invention
To the technical problem of above-mentioned existence, the present invention provides a kind of serving mechanism that is used for mechanical arm of continuing to serve.It is simple in structure, volume is little, in light weight, satisfy the load that mechanical arm can bear, the requirement for restriction of space size.
The present invention realizes through following technical scheme:
The present invention includes motor cabinet and the pipeline of losing, catapult-launching gear, retention device fixed thereon, the pipeline of losing is connected with the service pipeline of catapult-launching gear, and the countercheck rod of retention device stretches in the service pipeline of catapult-launching gear.
Described catapult-launching gear comprises service pipeline, slide block, slide block lock chamber, slide block lock chamber baffle plate, sliding block spring and driving mechanism, is provided with the ball groove in the service pipeline, and the slide block lock chamber is positioned at service pipeline below; And be fixed on the motor cabinet, on slide block lock chamber, being provided with slide block lock chamber baffle plate near service pipeline end, slide block places in the slide block lock chamber; The slide block lock chamber is stretched out at two ends; One end places the ball bottom land end of service pipeline, and the other end is provided with slide block and regulates bolt, the dead in line of the axis of slide block and service pipeline; Slide block in the slide block lock chamber is provided with the slide block baffle plate; Stretch out outside the slide block lock chamber sidewall termination of slide block baffle plate, has the slotted eye that matches with slide block baffle plate external part on the slide block lock chamber sidewall, on the slide block between slide block baffle plate and the slide block adjusting bolt, is provided with sliding block spring; Slide block baffle plate external part contacts with driving mechanism during work, and slides up and down along the slotted eye on the slide block lock chamber sidewall.
Described driving mechanism is made up of motor and the projection that is fixed on the motor casing; Said projection is two secter pats, is symmetrical set the central axis of two projections and the central axes of motor along the motor casing circumference; When motor rotated, projection contacted with slide block baffle plate external part or separates.Described slide block is an one-level step ladder circular ring rod structure, and the handing-over end face of various outer diameter places slide block baffle plate top.Described slide block lock chamber baffle plate is the annulus rod structure, and its internal radius and slide block external diameter are sliding matching structure.
Described retention device comprises countercheck rod, countercheck rod lock chamber, countercheck rod adjustment screw and stops spring; Stop that spring places in the countercheck rod lock chamber; Be respectively equipped with countercheck rod and countercheck rod adjustment screw between both ends of the spring and countercheck rod lock chamber stopping, said countercheck rod stretches in the ball groove in the service pipeline.
The described pipeline of losing is to be connected with the service pipeline of catapult-launching gear through connector, and is fixed on the motor cabinet through connector, and the pipeline other end of losing is connected on the mechanical arm.
Advantage of the present invention and good effect are:
1, the present invention cooperatively interacts and connects and composes by being fixed on the mechanism that loses, catapult-launching gear and retention device on the motor cabinet, and is simple in structure, compact, is easy to install, and do not take more spaces, just can reach the work purpose through simple structure.
2, catapult-launching gear of the present invention is regulated the elastic force of bolt regulating spring through slide block is installed, and makes the ejection force of service adjustable; Be equipped with the countercheck rod of retention device in the ball groove of in the pipeline of losing, establishing, table tennis is fixed well; The projection driving sliding block baffle plate of driven by motor, thus drive slide block movement, through the elastic force effect of slide block upper spring, trigger soldier's pang ball, it is effective, reliable and practical to serve a ball.
Description of drawings
Fig. 1 is that outward appearance of the present invention is formed front schematic view.
Fig. 2 is that outward appearance of the present invention is formed schematic rear view.
Fig. 3 is a not confined state sketch map of slide block of the present invention.
Fig. 4 is a projection compression slide block view of the present invention.
Fig. 5 is a projection compression slide block generalized section of the present invention.
Fig. 6 is projection compression slide block a to limit view of the present invention.
Fig. 7 is a projection release slider view of the present invention.
Fig. 8 is a projection release slider generalized section of the present invention.
Among the figure: the 1-pipeline of losing, 2-conduit coupling, the 3-pipeline of serving a ball, 4-countercheck rod, 5-countercheck rod holder; 6-countercheck rod adjustment screw, 7-motor cabinet, 8-slide block, 9-slide block lock chamber, 10-support; 11-slide block adjustment screw, 12-slide block baffle plate, 13-projection, 14-motor, 15-countercheck rod spring; The 16-sliding block spring, 17-slide block lock chamber baffle plate, 18-table tennis, 19-ball groove, 20-groove.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is made further detailed description.
Embodiment: like Fig. 1, shown in Figure 2; The present invention includes motor cabinet 7 and lose pipeline 1, catapult-launching gear, retention device fixed thereon; The pipeline 1 of losing is connected with the service pipeline 3 of catapult-launching gear, and the countercheck rod 4 of retention device stretches in the service pipeline 3 of catapult-launching gear.
Like Fig. 1, shown in Figure 5; This routine described catapult-launching gear comprises service pipeline 3, slide block 8, slide block lock chamber 9, slide block lock chamber baffle plate 17, motor 14 and is fixed on the projection 13 on the motor casing; Projection 13 is along symmetrically arranged two secter pats of motor casing circumference, the central axes of the central axis of two projections 13 and motor 14.Slide block lock chamber 9 is positioned at service pipeline 3 belows; And be fixed on the motor cabinet 7 through support 10; On slide block lock chamber 9, be provided with the slide block lock chamber baffle plate 17 of annulus cylindricality near service pipeline 3 ends; Slide block 8 is an one-level step ladder circular ring rod structure; The handing-over end face of various outer diameter places slide block lock chamber 9 inner slide baffle plates 12 tops, and the internal radius of slide block lock chamber baffle plate 17 and slide block 8 maximum external diameters are sliding matching structure, and promptly the internal radius of slide block lock chamber baffle plate 17 is more than or equal to the external diameter of slide block; Slide block lock chamber 9 is stretched out at slide block 8 two ends; One end places ball groove 19 bottoms of service pipeline 3, and the other end is provided with slide block and regulates bolt 11, the dead in line of the axis of slide block 8 and service pipeline 3; Slide block 8 in the slide block lock chamber 9 is provided with slide block baffle plate 12; Stretch out outside slide block lock chamber 9 sidewalls termination of slide block baffle plate 12, and its overhang will guarantee that slide block baffle plate 12 can contact under the rotation of motor 14 with projection 13 and along with the rotation of motor 14 can in time discharge, have the slotted eye that matches with slide block baffle plate 12 external parts on slide block lock chamber 9 sidewalls; When motor 14 rotates; Slide block baffle plate 12 terminations contact with projection 13 or separate, and drive slide block 8 and slide up and down along the slotted eye on slide block lock chamber 9 sidewalls, on the slide block 8 between slide block baffle plate 12 and the slide block adjusting bolt 11, are provided with sliding block spring 16.
For alleviating mechanism's weight, this example has groove 20 at slide block 8 heavy in section ends.
As shown in Figure 5; Described retention device comprises countercheck rod 4, countercheck rod lock chamber 5, countercheck rod adjustment screw 6 and stops spring 15; Countercheck rod lock chamber 5 is fixed on the motor cabinet 7; Stop that spring 15 places in the countercheck rod lock chamber 5, stopping that 5 of spring 15 two ends and countercheck rod lock chambers are respectively equipped with countercheck rod 4 and countercheck rod adjustment screw 6, said countercheck rod 4 stretches in the ball groove 19 in the service pipeline 3.
As shown in Figure 1, the described pipeline 1 of losing is to be connected with the service pipeline 3 of catapult-launching gear through connector 2, and is fixed on the motor cabinet 7 through connector 2, and pipeline 1 other end of losing is connected on the mechanical arm.
As shown in Figure 2, the motor cabinet 7 among the present invention is a platy structure, is connected respectively with the pipeline of losing, catapult-launching gear, retention device, is weight reduction, has the hole above that.
The course of work of the present invention:
After table tennis 18 was put into the pipeline 1 of losing, like Fig. 3, Fig. 4, shown in Figure 5, motor 14 rotated; Projection 13 drives slide block 8 and moves down, and slide block 8 is to lower compression sliding block spring 16, at this moment; Table tennis 18 gets in the service pipelines 3, and countercheck rod 4 stops table tennis 18 under the pressure of countercheck rod spring 15, prevents the table tennis 18 landings bulb road 3 that sets out; Table tennis 18 is in stable state, is completely fixed.
Claims (6)
1. serving mechanism that is used for mechanical arm; It is characterized in that: comprise motor cabinet and the pipeline of losing, catapult-launching gear, retention device fixed thereon; The pipeline of losing is connected with the service pipeline of catapult-launching gear, and the countercheck rod of retention device stretches in the service pipeline of catapult-launching gear; Described catapult-launching gear comprises service pipeline, slide block, slide block lock chamber, slide block lock chamber baffle plate, sliding block spring and driving mechanism, is provided with the ball groove in the service pipeline, and the slide block lock chamber is positioned at service pipeline below; And be fixed on the motor cabinet, on slide block lock chamber, being provided with slide block lock chamber baffle plate near service pipeline end, slide block places in the slide block lock chamber; The slide block lock chamber is stretched out at two ends; One end places the ball bottom land end of service pipeline, and the other end is provided with slide block and regulates bolt, the dead in line of the axis of slide block and service pipeline; Slide block in the slide block lock chamber is provided with the slide block baffle plate; Stretch out outside the slide block lock chamber sidewall termination of slide block baffle plate, has the slotted eye that matches with slide block baffle plate external part on the slide block lock chamber sidewall, on the slide block between slide block baffle plate and the slide block adjusting bolt, is provided with sliding block spring; Slide block baffle plate external part contacts with driving mechanism during work, and slides up and down along the slotted eye on the slide block lock chamber sidewall.
2. according to the said serving mechanism that is used for mechanical arm of claim 1; It is characterized in that: described driving mechanism is made up of motor and the projection that is fixed on the motor casing; Said projection is two secter pats, is symmetrical set the central axis of two projections and the central axes of motor along the motor casing circumference; When motor rotated, projection contacted with slide block baffle plate external part or separates.
3. according to the said serving mechanism that is used for mechanical arm of claim 1, it is characterized in that: described slide block is an one-level step ladder circular ring rod structure, and the handing-over end face of various outer diameter places slide block baffle plate top.
4. according to the said serving mechanism that is used for mechanical arm of claim 1, it is characterized in that: described slide block lock chamber baffle plate is the annulus rod structure, and its internal radius and slide block external diameter are sliding matching structure.
5. according to the said serving mechanism that is used for mechanical arm of claim 1; It is characterized in that: described retention device comprises countercheck rod, countercheck rod lock chamber, countercheck rod adjustment screw and stops spring; Stop that spring places in the countercheck rod lock chamber; Be respectively equipped with countercheck rod and countercheck rod adjustment screw between both ends of the spring and countercheck rod lock chamber stopping, said countercheck rod stretches in the ball groove in the service pipeline.
6. according to the said serving mechanism that is used for mechanical arm of claim 1; It is characterized in that: the described pipeline of losing is to be connected with the service pipeline of catapult-launching gear through connector; And be fixed on the motor cabinet through connector, the pipeline other end of losing is connected on the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910012542XA CN101954179B (en) | 2009-07-15 | 2009-07-15 | Serving mechanism for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910012542XA CN101954179B (en) | 2009-07-15 | 2009-07-15 | Serving mechanism for mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101954179A CN101954179A (en) | 2011-01-26 |
| CN101954179B true CN101954179B (en) | 2012-04-25 |
Family
ID=43481924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910012542XA Expired - Fee Related CN101954179B (en) | 2009-07-15 | 2009-07-15 | Serving mechanism for mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101954179B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110302527B (en) * | 2019-07-27 | 2023-01-31 | 芜湖职业技术学院 | Ejection device |
| CN114225347B (en) * | 2021-12-20 | 2022-09-13 | 郑州大学体育学院 | Automatic ball picking and serving integrated device for table tennis |
| CN114470714B (en) * | 2022-02-16 | 2022-11-25 | 山东体育学院 | Automatic badminton serving device for physical training |
-
2009
- 2009-07-15 CN CN200910012542XA patent/CN101954179B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101954179A (en) | 2011-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201455741U (en) | Cam splitter | |
| CN101954179B (en) | Serving mechanism for mechanical arm | |
| CN201441801U (en) | Ball serving mechanism that can serve balls successively for mechanical arm | |
| CN113387156B (en) | Automatic blanking device that bar material turned to fast | |
| CN208451500U (en) | A kind of progressive knocking device of elastic conjunction | |
| CN108317202B (en) | A kind of automobile absorber based on variable friction damper | |
| CN113833819B (en) | Energy-saving stage rotation driving device | |
| CN113181630B (en) | Game handle and trigger thereof | |
| US4332542A (en) | Electrically driven potter's wheel | |
| CN105734885B (en) | Speed reducing clutch for washing machine and washing machine | |
| CN111572831A (en) | Flour quantitative packaging device | |
| CN207275684U (en) | A kind of new pusher | |
| CN102913408A (en) | Bent axis type plunger hydraulic pump/motor | |
| US7699739B2 (en) | Sliding block type stepless autoshift speed changer | |
| CN105526332A (en) | Internal engaging swash plate rotation type continuously variable transmission | |
| CN201306078Y (en) | Rolling ball type door closer | |
| CN205489661U (en) | Rack charges and module charges thereof | |
| US20230001807A1 (en) | Vehicle power supply device | |
| CN220498907U (en) | Single motor driven rotary clamping device | |
| CN209112825U (en) | A kind of hopper butterfly valve opening structure | |
| CN208342389U (en) | A kind of grinding machine for being adapted to different size Cycloidal Wheel and being produced | |
| CN215093149U (en) | Positioning and clamping mechanism for cone roller | |
| CN212209267U (en) | Variable speed regulating wheel switch mechanism | |
| CN105840761B (en) | Can automatic speed regulation transmission device and its application method | |
| CN219159113U (en) | Plunger pump with swash plate for distributing flow |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120425 Termination date: 20130715 |