CN102363073A - Badminton partner training robot mechanism - Google Patents
Badminton partner training robot mechanism Download PDFInfo
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- CN102363073A CN102363073A CN201110366272XA CN201110366272A CN102363073A CN 102363073 A CN102363073 A CN 102363073A CN 201110366272X A CN201110366272X A CN 201110366272XA CN 201110366272 A CN201110366272 A CN 201110366272A CN 102363073 A CN102363073 A CN 102363073A
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Abstract
The invention discloses a badminton partner training robot mechanism, which comprises a support part, a vertical rotating mechanism and a hitting mechanism, wherein the vertical rotating mechanism is arranged on the support part; the hitting mechanism is arranged on the vertical rotating mechanism; the vertical rotating mechanism comprises a horizontal supporting seat arranged on the support part, a guide piece arranged on the horizontal supporting seat and a driving component used for driving the guide piece to rotate in a vertical plane vertical to a horizontal plane; and the hitting mechanism is arranged on the guide piece and can rotate in the vertical plane together with the guide piece. The badminton partner training robot mechanism is provided with the vertical rotating mechanism capable of driving the hitting mechanism to rotate in the vertical plane, can realize a lateral hitting function, and can replace a partner training person, so that the time and cost of sportsmen or badminton enthusiasts are saved.
Description
[technical field]
The present invention relates to the sports training apparatus field, particularly relate to a kind of badminton companion trainer device robot mechanism.
[background technology]
Badminton is the sports that a kind of two people and even many people accomplish.At the volley, connecting service is two very crucial steps with how impacting shuttlecock, and sportsman or shuttlecock fan often need do a large amount of receive training and slam-shot training in order to perfect to receive and impact shuttlecock.This just needs coach or ladder player to accomplish to receive and knock, but please coach and ladder player's expensive, and receives the restriction of time.
[summary of the invention]
Based on this, be necessary to provide a kind of badminton companion trainer device robot mechanism, alternative ladder player's exercise is received and is batted.
For this reason, propose a kind of badminton companion trainer device robot mechanism, it is characterized in that, comprising:
Support section;
Vertical rotation mechanism, said vertical rotation mechanism is installed on the said support section; And
Hit agency, said hit agency system is installed in the said vertical rotation mechanism;
Wherein, said vertical rotation mechanism comprises:
The Horizontal Branch bearing is to be installed on the said support section;
Guide, said guide are installed on the said Horizontal Branch bearing; And
Driven unit rotates in the vertical plane perpendicular to horizontal plane in order to drive guide;
Wherein, said hit agency system is installed on the said guide and can in said vertical plane, rotates with said guide.
In a preferred embodiment, said driven unit specifically comprises: vertical drive motor, pinion and gear wheel, and wherein said vertical drive motor is fixed on the said Horizontal Branch bearing, and the output shaft of said vertical drive motor is a horizontal arrangement; Said pinion be fixed in said vertical drive motor output shaft and with the engagement of said gear wheel, and then be said gear wheel rotatablely moving in vertical plane with the conversion of motion that horizontally rotates of the output shaft of said vertical drive motor; Said guide is fixedly connected with said gear wheel.
In a preferred embodiment, also comprise motor cabinet, locating shaft, gear wheel, vertical axis bearing assembly and gear wheel connecting plate; Said motor cabinet is fixed in the outer ledge on the last plane of Horizontal Branch bearing, and the output shaft of said locating shaft and said vertical drive motor is provided with and is fixed in the outer ledge of the lower plane of Horizontal Branch bearing in the same way; The inner ring of said vertical axis bearing assembly is sheathed on the said locating shaft, and said gear wheel is fixed in the outer ring of said vertical axis bearing assembly; Said vertical drive motor is fixed in the installing hole of said motor cabinet; Said pinion is fixed in the output shaft of said vertical drive motor and meshes with said gear wheel, and said gear wheel is fixed in said gear wheel connecting plate, and said guide is to be fixed on the said gear wheel connecting plate.
In a preferred embodiment; Also comprise and horizontally rotate mechanism; Saidly horizontally rotate mechanism and comprise horizontal motor shaft bearing, horizontal drive motor, small drive gear, horizontal bearing assembly, internal gear; Wherein horizontal motor shaft bearing is fixed on the support section, and said horizontal drive motor is fixed in the circumferential apertures of said horizontal motor shaft bearing, and the outer ring of said horizontal bearing assembly is positioned in the centre bore of said horizontal motor shaft bearing; Said internal gear be fixed in said horizontal bearing assembly inner ring and with the engagement of said small drive gear, said small drive gear is fixed on the output shaft of said horizontal drive motor, and drives said internal gear with said internal gear engagement and horizontally rotate; The Horizontal Branch bearing system of wherein said vertical rotation mechanism is installed in the upper surface outer ledge of said internal gear.
In a preferred embodiment, said hit agency comprises: slide block assembly, said slide block assembly are connected with said guide and are movable in set scope with respect to said guide; The racket holder is to be connected with slide block assembly and can to move with said slide block assembly is movable; And driving mechanism, be to move with respect to said guide in order to drive said slide block assembly.
In a preferred embodiment, said driving mechanism specifically comprises: undersetting, shaft coupling, drive motors, screw-drive mechanism; Said screw-drive mechanism comprises screw rod and nut, and wherein said nut is fixedly connected with said slide block assembly; Said drive motors is fixed on the undersetting; Said shaft coupling one end is connected in the output shaft of said drive motors, and the other end is connected in the screw rod of said screw-drive mechanism.
In a preferred embodiment, said hit agency also comprises guide rod, and an end of said guide rod is installed on the said undersetting, and said slide block assembly is installed on the said guide rod, and said guide is provided with axis hole; Said hit agency also comprises connecting rod, is installed in the upper bracket of the other end of said guide rod, and said upper bracket is provided with the rotating shaft that articulates with the axis hole of guide; Said connecting rod one end and racket holder are rotationally connected, and the other end of said connecting rod and said slide block assembly are rotationally connected; Said racket holder is rotationally connected with said upper bracket simultaneously.
In a preferred embodiment, said racket holder is provided with two bearing pins close to each other, and said upper bracket is provided with the support arm with dead eye; Said connecting rod be provided with said racket holder on the dead eye that is rotationally connected of one of them bearing pin, the support arm of said upper bracket is rotationally connected through another bearing pin on said dead eye and the said racket holder.
In a preferred embodiment, said guide is provided with and supplies the movable cam path of installing of said slide block assembly, and said cam path is by constituting or only be made up of the tilting section horizontal by acute angle perpendicular to the vertical section of horizontal plane with horizontal by the tilting section of acute angle; Said slide block assembly is provided with said cam path and realizes the roller that cam is connected.
In a preferred embodiment, said support section comprises the elevating mechanism that supplies said vertical rotation mechanism and said hit agency to install, and said elevating mechanism is in order to drive said vertical rotation mechanism and said hit agency; And/or omnidirectional's four-wheel drive mobile platform, move between diverse location in order to drive said badminton companion trainer device robot mechanism.
Above-mentioned badminton companion trainer device robot mechanism is provided with and can drives the vertical rotation mechanism that hit agency rotates in vertical plane, can realize side direction batting function, thus can substitute the ladder player, thus movement toward economizing person or shuttlecock fan's time and expense.
[description of drawings]
Fig. 1 is the three-dimensional assembly diagram of badminton companion trainer device robot mechanism;
Fig. 2 is the explosive view of badminton companion trainer device robot mechanism;
Fig. 3 is the explosive view of mobile platform;
Fig. 4 is the explosive view of elevating mechanism;
Fig. 5 is the cutaway view that horizontally rotates mechanism;
Fig. 6 is the cutaway view of vertical rotation mechanism;
Fig. 7 is the explosive view of vertical rotation mechanism;
Fig. 8 is the explosive view of hit agency;
Fig. 9 is the sketch map of hit agency and vertical rotation mechanism assembled relation;
Figure 10 is the stereogram of initial default attitude;
Figure 11 is the stereogram of forward toe lift backswing;
Figure 12 is the front view of forward toe lift backswing;
Figure 13 is the vertical view of forward toe lift backswing;
Figure 14 is the stereogram of forward slam-shot backswing;
Figure 15 is the front view of forward slam-shot backswing;
Figure 16 is the vertical view of forward slam-shot backswing;
Figure 17 is the stereogram of side direction toe lift backswing;
Figure 18 is the front view of side direction toe lift backswing;
Figure 19 is the vertical view of side direction toe lift backswing;
Figure 20 is the stereogram of side direction slam-shot backswing;
Figure 21 is the front view of side direction slam-shot backswing;
Figure 22 is the vertical view of side direction slam-shot backswing.
[specific embodiment]
The basic design of this embodiment is: a kind of badminton companion trainer device robot mechanism system based on the law of conservation of momentum is provided.Learn that by the law of conservation of momentum shuttlecock should be equaled by the momentum after impacting by the momentum before impacting, i.e. law of conservation of momentum formula: MV1+M1V2=M1V+MV0.Wherein, M is racket and robot quality, and M1 is the shuttlecock quality; V1 brandishes speed for the preceding racket of batting; V2 is a shuttlecock by self speed before being impacted, and to be shuttlecock impacted the initial velocity that back moment obtains to V, and V0 is the speed of batting back robot and racket.
In order to improve the result of use of badminton companion trainer device robot mechanism; Need badminton companion trainer device robot mechanism can improve the initial velocity V that shuttlecock is impacted back moment acquisition; Therefore badminton companion trainer device robot mechanism preferably can effectively improve the preceding speed of swing V1 of racket batting, the i.e. speed of racket striking point on the ball position.
For this reason, propose a kind of badminton companion trainer device robot mechanism, comprise support section; Vertical rotation mechanism, said vertical rotation mechanism is installed on the said support section; And hit agency, said hit agency system is installed in the said vertical rotation mechanism; Wherein, said vertical rotation mechanism comprises: the Horizontal Branch bearing is to be installed on the said support section; Guide, said guide are installed on the said Horizontal Branch bearing; And driven unit, rotate in vertical plane in order to drive guide perpendicular to horizontal plane; Wherein, said hit agency system is installed on the said guide and can in said vertical plane, rotates with said guide.
Below in conjunction with specific embodiment, badminton companion trainer device robot mechanism is carried out concrete description.
Please refer to accompanying drawing 1 and accompanying drawing 2; The badminton companion trainer device robot mechanism of this embodiment comprises: support section 1, be installed on elevating mechanism 2 that being used on this support section 1 move up and down racket, be installed on and make racket in horizontal plane the horizontally rotating mechanism 3, be installed on this and horizontally rotate and make racket in the side direction vertical plane vertical rotation mechanism 4 of swing flexibly in the mechanism 3 of swing flexibly on this elevating mechanism 2, and the hit agency 5 that is installed in this vertical rotation mechanism 4 is formed.
Please refer to accompanying drawing 3, said support section 1 is omnidirectional's four-wheel drive mobile platform, comprises platform motor bearing seat 1.1, omnidirectional's wheel assembly 1.3 and chassis lid 1.4, and certain said support section 1 also needs the integration platform drive motors.
Said omnidirectional wheel assembly 1.3 is to be fixed on the output shaft of platform drive motors; The platform drive motors can be located and be fixed on the platform motor bearing seat 1.1; Chassis lid 1.4 is fixed on the platform motor bearing seat 1.1, and said drive motors is a stepping planetary gear reducing motor.
Please refer to accompanying drawing 4; Said elevating mechanism 2 is made up of lower support sleeve 2.1, lifting motor 2.2, lower support holder assembly 2.3, up-down shaft coupling 2.4, lifting slider assembly 2.5, elevating screws transmission mechanism 2.6, lifting guide pillar 2.7, upper branching holder assembly 2.8, jacking sleeve 2.9, upper support sleeve 2.10, and the lower plane through its lower support sleeve 2.1 is fixed on the platform motor bearing seat 1.1 of support section 1.
Please refer to accompanying drawing 2 and accompanying drawing 5; Saidly horizontally rotate mechanism 3 and form, horizontally rotate the jacking sleeve 2.3 of said elevating mechanism 2 is fixed in mechanism 3 through the lower plane of its horizontal motor shaft bearing 3.1 last plane by horizontal motor shaft bearing 3.1, horizontal drive motor 3.2, small drive gear 3.3, horizontal bearing assembly 3.4, internal gear 3.5, horizontal limited block 3.6.
The said circumferential apertures that horizontally rotates horizontal drive motor 3.2 location of mechanism 3 and be fixed in horizontal motor shaft bearing 3.1, horizontal bearing assembly 3.4 outer rings are positioned in the centre bore of horizontal motor shaft bearing 3.1; Horizontal bearing assembly 3.4 inner rings also are fixed in internal gear 3.5 location, and mesh with small drive gear 3.3; Small drive gear 3.3 is fixed on the output shaft of horizontal drive motor 3.2, and with internal gear 3.5 engagement and then drive horizontally rotating of internal gear 3.5 and corresponding mechanism, thereby can realize horizontally rotating of racket.
Please refer to accompanying drawing 6 and accompanying drawing 7; Said vertical rotation mechanism 4 is made up of Horizontal Branch bearing 4.1, motor cabinet 4.2, vertical drive motor 4.3, pinion 4.4, locating shaft 4.5, gear wheel 4.6, vertical axis bearing assembly 4.7, gear wheel connecting plate 4.8, guiding side plate 4.9, vertical limited block 4.10, is fixed in plane on the said internal gear 3.5 that horizontally rotates mechanism 3 through its Horizontal Branch bearing 4.1.
The motor cabinet 4.2 of said vertical rotation mechanism 4 is fixed in the outer ledge on the last plane of Horizontal Branch bearing 4.1; Locating shaft 4.5 is fixed in the outer ledge of Horizontal Branch bearing 4.1 lower planes in the same way; The inner ring of vertical axis bearing assembly 4.7 is fixed on the locating shaft 4.5, outer ring location and fixing gear wheel 4.6; Vertical drive motor 4.3 location also are fixed on the installing hole of motor cabinet 4.2; Pinion 4.4 be fixed on the output shaft of vertical drive motor 4.3 and with gear wheel 4.6 engagements, gear wheel 4.6 is fixed in gear wheel connecting plate 4.8, gear wheel connecting plate 4.8 both sides respectively are fixed with a guiding side plate 4.9.
Said guiding side plate 4.9 is provided with axis hole 4.9.1 and cam path 4.9.2, and cam path 4.92 can be formed for two sections by vertical section with the tilting section that vertical direction forms an angle, and also can only be made up of one section tilting section.The vertical section of cam path 4.9.2 is used to realize the ability that impacts fast of hit agency 5, and tilting section then is used to realize the horizontal toe lift function of hit agency 5, and literary composition will further be narrated after the realization of above-mentioned functions.
Please refer to accompanying drawing 8, said hit agency 5 is made up of drive motors 5.1, undersetting 5.2, shaft coupling 5.3, screw-drive mechanism 5.4, cushion pad 5.5, guide rod 5.6, slide block assembly 5.7, compression spring 5.8, upper bracket 5.9, connecting rod 5.10, racket holder assembly 5.11.Said screw-drive mechanism 5.4, guide rod 5.6, slide block assembly 5.7, upper bracket 5.9, connecting rod 5.10, racket holder assembly 5.11 are formed a quadric chain, and the rotating shaft 5.91 through its upper bracket 5.9 both sides is connected with the axis hole 4.9.1 realization hinge of the guiding side plate 4.9 of said vertical rotation mechanism 4; Simultaneously, also the roller 5.7.1 through its slide block assembly 5.7 both sides is connected with the cam path 4.9.2 realization cam of the guiding side plate 4.9 of said vertical rotation mechanism 4.In fact said drive motors 5.1, undersetting 5.2, shaft coupling 5.3, screw-drive mechanism 5.4, cushion pad 5.5, guide rod 5.6, compression spring 5.8, upper bracket 5.9 and connecting rod 5.10 constituted can driving sliding block assembly 5.7 and the driving mechanism of racket holder assembly 5.11 motions.
The drive motors 5.1 of said hit agency 5 is fixed in undersetting 5.2 belows; Screw-drive mechanism 5.4 is fixed on the bearing assembly of undersetting 5.2; The lower end of shaft coupling 5.3 is connected in the output shaft of drive motors 5.1, and the upper end is connected in the screw shaft of screw-drive mechanism 5.4; The upper and lower side of guide rod 5.6 is individually fixed in the guide rod seat or guide rod installing hole of undersetting 5.2 and upper bracket 5.9; Slide block assembly 5.7 centre bores are fixedly connected with the nut step surface of screw-drive mechanism 5.4; Its centre bore bilateral symmetry is provided with the linear bearing of guiding usefulness; Linear bearing and guide rod 5.6 are slidingly connected; Slide block assembly 5.7 is with after the nut of screw-drive mechanism 5.4 is connected like this, changes the rotation motion of screw rod into rectilinear motion up and down, and slide block assembly 5.7 is in straight-line guide rod 5.6 accurately guiding and cushion pad 5.5 bufferings leaned on simultaneously up and down; Racket holder assembly 5.11 depends on the set bearing pin 5.11.1 of racket net one side and is rotationally connected with the dead eye of the support arm 5.9.2 of upper bracket 5.9; It is rotationally connected near the set bearing pin 5.11.1 of racket handle one side and the dead eye of connecting rod 5.10, and the dead eye of connecting rod 5.10 other ends and the pitman shaft 5.7.2 of slide block assembly 5.7 are rotationally connected.When drive motors 5.1 got electric rotation, the screw rod that drives shaft coupling 5.3, screw-drive mechanism 5.4 rotated together, and rotatablely moving of screw rod converts the rectilinear motion of nut and slide block assembly 5.7 one to.The pitman shaft 5.7.2 of slide block assembly 5.7 promotes connecting rod 5.10, and connecting rod 5.10 promotes racket holder assembly 5.11 again and makes it the dead eye swing around the support arm 5.9.2 of upper bracket 5.9.Because the distance of the relative racket batter's box of spacing between two bearing pin 5.11.1 of racket holder assembly 5.11 is very little, can realize racket impacting fast shuttlecock like this.
The axis hole 4.9.1 of the rotating shaft 5.9.1 of upper bracket 5.9 both sides of said hit agency 5 and the guiding side plate 4.9 of vertical rotation assembly 4 is rotationally connected, and the cam path 4.9.2 of the roller 5.7.1 of its slide block assembly 5.7 both sides and the guiding side plate 4.9 of vertical rotation assembly 4 is slidingly connected; Slide block assembly 5.7 is ordered about down at screw-drive mechanism 5.4; Its two side wheel 5.7.1 is when the cam path 4.9.2 vertical section motion of guiding side plate 4.9; Slide block assembly 5.7 promotes connecting rod 5.10 makes racket holder assembly 5.11 accomplish wobbling action; And when tilting section when motion of 5.7 liang of side wheel 5.7.1 of slide block assembly at the cam path 4.9.2 of guiding side plate 4.9; Whole hit agency 5 is again around the axis hole 4.9.1 of the guiding side plate 4.9 of vertical rotation mechanism 4 swing, thus said guiding side plate 4.9 actual be a guide, in order to the active path of guiding and qualification hit agency 5.
Said hit agency 5 also is provided with compression spring 5.8 between slide block assembly 5.7 and upper bracket 5.9, its objective is the resistance of start that overcomes drive motors 5.1 and the frictional force of mechanism, also strengthens the staring torque of drive motors 5.1 simultaneously.
The main effect of said screw-drive mechanism 5.4 is to make the rectilinear motion that is become nut by rotatablely moving of screw rod; And because the centre bore of slide block assembly 5.7 is fixed in the nut of screw-drive mechanism 5.4 system, so the formation nut that rotatablely moves of screw rod, rectilinear motion that slide block assembly 5.7 combines.
Said slide block assembly 5.7 is arranged with roller 5.7.1 and pitman shaft 5.7.2 in its outside; The body center of slide block assembly 5.7 is provided with the centre bore that is fixedly connected with the nut of screw-drive mechanism 5.4; Centre bore is symmetrically distributed with the slider guide hole, and linear bearing is fixed in the slider guide hole.
It may be noted that; The said slide block assembly 5.7 of this embodiment is by resolution element: the assembly that nut, slide block body, linear bearing, roller, pitman shaft are formed; Certainly be whole integrated slide block, promptly whole incorporate slide block centre bore is threaded hole.
In this embodiment, said racket holder assembly 5.11 respectively is provided with the bearing pin 5.11.1 of two same sizes in its both sides, and said bearing pin 5.11.1 is located on the outstanding axle bed.Because racket is very long, racket system is fixed on the said racket holder assembly 5.11, and it is then unsettled to impact part, so the lower end of said racket holder assembly 5.11 also is provided with balancing weight 5.11.2, in order to the deadweight with the balance racket.
Below in conjunction with accompanying drawing 10 to accompanying drawing 21, the badminton companion trainer device robot mechanism that this embodiment is described is how to be converted to various backswings such as forward toe lift backswing, forward slam-shot backswing, side direction toe lift backswing and side direction slam-shot backswing by the initial default attitude to reach how to accomplish above-mentioned action.
Please refer to accompanying drawing 10; Initial default attitude: when robot is in powering-off state or charged original state; Elevating mechanism 2 is in lowest positions, and the slide block assembly 5.7 of hit agency 5 is in the lower position, horizontally rotates mechanism 3 and all mediates with vertical rotation mechanism 4.
Forward slam-shot backswing: please refer to accompanying drawing 11 to accompanying drawing 13; When shuttlecock acquisition and tracking system acquisition and judge before shuttlecock is near net and the position, dead ahead that is in badminton companion trainer device robot mechanism when being near-net ball; The control system sends instruction; Support section 1 is that omnidirectional's four-wheel drive mobile platform moves quickly into the front court correct position, and the lifting motor 2.2 of elevating mechanism 2 gets the electric hit agency 5 that makes and drops to certain position fast; Simultaneously; The screw rod that the drive motors 5.1 of hit agency 5 gets electric driving screw-drive mechanism 5.4 is rotated in the forward; The rotation motion of screw-drive mechanism is changed into the straight line ascending motion of nut and slide block assembly 5.7; Slide block assembly 5.7 is climbed to upper limit position and is promoted connecting rod 5.10 by the lower position; Connecting rod 5.10 promotes the shaft swing near screen frame one side of racket holder assembly 5.11 around himself again, and at this moment, the roller of slide block assembly 5.7 moves quickly into upper end position at the cam path 4.9.2 of guiding side plate 4.9 by lower end position; In addition, whole hit agency 5 is again around the whole swing of the rotating shaft 5.9.1 of its upper bracket 5.9, with the backswing before the toe lift from lower to upper of realization racket; Like the forward toe lift backswing of accompanying drawing 11, at this moment, drive motors 5.1 is shut down and braking.When toe lift; Drive motors 5.1 releasing of brake electric motor startings and reverse rotation at a high speed; Slide block assembly 5.7 rotates at a high speed to drive down at the screw rod of compression spring 5.8 and screw-drive mechanism 5.4 and descends fast, and the slide block assembly 5.7 that descends fast drivening rod 5.10 again makes the 5.11 realization fast stroke of racket holder assembly.
Forward slam-shot backswing: please refer to accompanying drawing 14 to accompanying drawing 16; When shuttlecock acquisition and tracking system acquisition and when judging that shuttlecock is the forward high clear; The control system sends instruction; Omnidirectional's four-wheel drive mobile platform moves quickly into the middle suitable position of back court, and elevating mechanism 2 is in the extreme higher position, horizontally rotates mechanism 3 and all is in the initial default position with vertical rotation mechanism 4.At this moment; The screw rod forward that the drive motors 5.1 of hit agency 5 gets electric driving screw-drive mechanism 5.4 rotates at a high speed; The high speed rotary motion of screw-drive mechanism is transformed into the quick straight line ascending motion of nut and slide block assembly 5.7; The roller 5.7.1 of slide block assembly 5.7 moves quickly into straightway and the crossing corner position of tilting section at the cam path of guiding side plate 4.9 by lower end position, i.e. the roller 5.7.1 of slide block assembly 5.7 fast rise in the straightway of the cam path 4.9.2 of guiding side plate 4.9; Like the forward slam-shot backswing of accompanying drawing 14, at this moment, drive motors 5.1 is shut down and braking.When slam-shot; Drive motors 5.1 releasing of brake electric motor startings and reverse rotation at a high speed; Slide block assembly 5.7 rotates quick decline under the driving at a high speed at the screw rod of compression spring 5.8 and screw-drive mechanism 5.4, and the slide block assembly 5.7 that descends fast drivening rod 5.10 again makes the quick forward of racket holder assembly 5.11 realizations spike.
Side direction toe lift backswing: please refer to accompanying drawing 17 to accompanying drawing 19; When shuttlecock acquisition and tracking system acquisition and when judging shuttlecock edge near-net ball; Likewise; Omnidirectional's four-wheel drive mobile platform moves quickly into the front court correct position, and the lifting motor 2.2 of elevating mechanism 2 gets the electric hit agency 5 that makes and drops to certain position fast.At this moment, horizontally rotate mechanism 3 horizontal drive motor 3.1 electric and drive small drive gear 3.3 and drive internal gears 3.5 and fixing its and go up vertical rotation mechanism 4 and rotates together, according to the instruction of control system, can be that turning left moving also can be that right-hand rotation is moved; The vertical drive motor 4.3 of vertical rotation mechanism 4 gets electric and drives pinion 4.4 and drives gear wheels 4.6 rotations; Because gear wheel 4.6 is fixed on the gear wheel connecting plate 4.8; Gear wheel connecting plate 4.8 both sides are each fixed guide side plate 4.9 again; Therefore the side plate 4.9 that leads drives hit agency 5 together with gear wheel 4.6 and rotates, and according to the instruction of control system, can be that to rotate forward also can be to rotate backward.Simultaneously; The screw rod that the drive motors 5.1 of hit agency 5 gets electric driving screw-drive mechanism 5.4 is rotated in the forward; The rotation motion of screw-drive mechanism is changed into the straight line ascending motion of nut and slide block assembly 5.7; Slide block assembly 5.7 is climbed to upper limit position and is promoted connecting rod 5.10 by the lower position; Connecting rod 5.10 promotes the shaft swing near screen frame one side of racket holder assembly 5.11 around himself again, and at this moment, the roller 5.7.1 of slide block assembly 5.7 moves quickly into upper end position at the cam path 4.9.2 of guiding side plate 4.9 by lower end position; In addition, whole hit agency 5 is again around the whole swing of the rotating shaft 5.9.1 of its upper bracket 5.9, with the backswing before the toe lift from lower to upper of realization racket; Like the side direction toe lift backswing of accompanying drawing 17, at this moment, drive motors 5.1 is shut down and braking.When toe lift; Drive motors 5.1 releasing of brake electric motor startings and reverse rotation at a high speed; Slide block assembly 5.7 rotates at a high speed to drive down at the screw rod of compression spring 5.8 and screw-drive mechanism 5.4 and descends fast, and the slide block assembly 5.7 that descends fast drivening rod 5.10 again makes the 5.11 realization fast stroke of racket holder assembly.
Side direction slam-shot backswing: please refer to accompanying drawing 20 to accompanying drawing 22; When shuttlecock acquisition and tracking system acquisition and when judging that shuttlecock is the side direction high clear; The control system sends instruction; Omnidirectional's four-wheel drive mobile platform moves quickly into the correct position that the back court center line is taken back or taken over, and elevating mechanism 2 is in the extreme higher position.At this moment, horizontally rotate mechanism 3 horizontal drive motor 3.1 electric and drive small drive gear 3.3 and drive internal gears 3.5 and fixing its and go up vertical rotation mechanism 4 and rotates together, according to the instruction of control system, can be that turning left moving also can be that right-hand rotation is moved; The vertical drive motor 4.3 of vertical rotation mechanism 4 gets electric and drives pinion 4.4 and drives gear wheels 4.6 rotations; Because gear wheel 4.6 is fixed on the gear wheel connecting plate 4.8; Gear wheel connecting plate 4.8 both sides are each fixed guide side plate 4.9 again; Therefore the side plate 4.9 that leads drives hit agency 5 together with gear wheel 4.6 and rotates, and according to the instruction of control system, can be that to rotate forward also can be to rotate backward.Simultaneously; The screw rod forward that the drive motors 5.1 of hit agency 5 gets electric driving screw-drive mechanism 5.4 rotates at a high speed; The high speed rotary motion of screw-drive mechanism 5.4 is transformed into the quick straight line ascending motion of nut and slide block assembly 5.7; The roller 5.7.1 of slide block assembly 5.7 moves quickly into straightway and the crossing corner position of tilting section at the cam path 4.9.2 of guiding side plate 4.9 by lower end position, i.e. the roller 5.7.1 of slide block assembly 5.7 fast rise in the straightway of the cam path 4.9.2 of guiding side plate 4.9; Like the side direction slam-shot backswing of accompanying drawing 20, at this moment, drive motors 5.1 is shut down and braking.When slam-shot; Drive motors 5.1 releasing of brake electric motor startings and reverse rotation at a high speed; Slide block assembly 5.7 rotates quick decline under the driving at a high speed at the screw rod of compression spring 5.8 and screw-drive mechanism 5.4, and the slide block assembly 5.7 that descends fast drivening rod 5.10 again makes the quick side direction of racket holder assembly 5.11 realizations spike.
Need to prove; The badminton companion trainer device robot mechanism of above-mentioned embodiment is complete and preferred implementation; Can realize: various shots such as forward toe lift, forward slam-shot, side direction toe lift and side direction slam-shot, more can in the place, accomplish above-mentioned action in the comprehensive moving process.But it is understandable that, during the badminton companion trainer device robot mechanism practical application of above-mentioned embodiment, also can not realize above-mentioned functions simultaneously.The concrete variation as follows:
The function that horizontally rotates mechanism 3 is that drive racket holder assembly 5.11 and racket rotate in horizontal plane, and in fact omnidirectional's four-wheel drive mobile platform also can be realized similar function, and the two exists simultaneously, and effect is better.
The effect of vertical rotation mechanism 4 is that racket holder assembly 5.11 and racket are rotated in vertical plane.In the practical application, vertical rotation mechanism 4 can cancel, and promptly only utilizes to horizontally rotate mechanism 3 or omnidirectional's four-wheel drive mobile platform.For example, under the situation of vertical rotation mechanism 4 cancellations, horizontally rotate mechanism 3 as only utilizing, badminton companion trainer device robot mechanism can only be implemented in the forward toe lift and the slam-shot function in original place; Under the situation of vertical rotation mechanism 4 cancellations, if only adopt omnidirectional's four-wheel drive mobile platform, then badminton companion trainer device robot mechanism can comprehensively in the place move fast, so also can realize the function of side direction toe lift and slam-shot indirectly; Under the situation of vertical rotation mechanism 4 cancellations; While usage level rotating mechanism 3 and omnidirectional's four-wheel drive mobile platform; Then can realize omnibearing forward toe lift and forward slam-shot function in the place preferably, and realize omnibearing side direction toe lift and side direction slam-shot function in the place.
So in fact, racket holder assembly 5.11 can be directly installed on and horizontally rotate in the mechanism 3, even is installed on the elevating mechanism 2; Likewise, the guiding side plate 4.9 of vertical rotation mechanism 4 can be to be directly installed on to horizontally rotate in the mechanism 3, even integration is installed on the elevating mechanism 2.Aforesaid way also can be realized the batting function of racket holder assembly 5.11, and the function quantity that just can realize is different, and effect is different.
So in sum, be appreciated that above-mentioned omnidirectional four-wheel drive mobile platform, elevating mechanism 2, horizontally rotate parts such as mechanism 3, vertical rotation mechanism 4 and hit agency 5 and can reasonably make up use, be not all to exist simultaneously.Certainly, the combination of different modes, the function that can realize is different, and effect also is not quite similar.
The above embodiment has only expressed several kinds of embodiments of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from the present invention's design, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with accompanying claims.
Claims (10)
1. a badminton companion trainer device robot mechanism is characterized in that, comprising:
Support section;
Vertical rotation mechanism, said vertical rotation mechanism is installed on the said support section; And
Hit agency, said hit agency system is installed in the said vertical rotation mechanism;
Wherein, said vertical rotation mechanism comprises:
The Horizontal Branch bearing is to be installed on the said support section;
Guide, said guide are installed on the said Horizontal Branch bearing; And
Driven unit rotates in the vertical plane perpendicular to horizontal plane in order to drive guide;
Wherein, said hit agency system is installed on the said guide and can in said vertical plane, rotates with said guide.
2. badminton companion trainer device robot mechanism according to claim 1; It is characterized in that: said driven unit specifically comprises: vertical drive motor, pinion and gear wheel; Wherein said vertical drive motor is fixed on the said Horizontal Branch bearing, and the output shaft of said vertical drive motor is a horizontal arrangement; Said pinion be fixed in said vertical drive motor output shaft and with the engagement of said gear wheel, and then be said gear wheel rotatablely moving in vertical plane with the conversion of motion that horizontally rotates of the output shaft of said vertical drive motor; Said guide is fixedly connected with said gear wheel.
3. badminton companion trainer device robot mechanism according to claim 2 is characterized in that: also comprise motor cabinet, locating shaft, gear wheel, vertical axis bearing assembly and gear wheel connecting plate; Said motor cabinet is fixed in the outer ledge on the last plane of Horizontal Branch bearing, and the output shaft of said locating shaft and said vertical drive motor is provided with and is fixed in the outer ledge of the lower plane of Horizontal Branch bearing in the same way; The inner ring of said vertical axis bearing assembly is sheathed on the said locating shaft, and said gear wheel is fixed in the outer ring of said vertical axis bearing assembly; Said vertical drive motor is fixed in the installing hole of said motor cabinet; Said pinion is fixed in the output shaft of said vertical drive motor and meshes with said gear wheel, and said gear wheel is fixed in said gear wheel connecting plate, and said guide is to be fixed on the said gear wheel connecting plate.
4. according to claim 1 or 2 or 3 described badminton companion trainer device robot mechanisms; It is characterized in that: also comprise horizontally rotating mechanism; Saidly horizontally rotate mechanism and comprise horizontal motor shaft bearing, horizontal drive motor, small drive gear, horizontal bearing assembly, internal gear; Wherein horizontal motor shaft bearing is fixed on the support section; Said horizontal drive motor is fixed in the circumferential apertures of said horizontal motor shaft bearing, and the outer ring of said horizontal bearing assembly is positioned in the centre bore of said horizontal motor shaft bearing; Said internal gear be fixed in said horizontal bearing assembly inner ring and with the engagement of said small drive gear, said small drive gear is fixed on the output shaft of said horizontal drive motor, and drives said internal gear with said internal gear engagement and horizontally rotate; The Horizontal Branch bearing system of wherein said vertical rotation mechanism is installed in the upper surface outer ledge of said internal gear.
5. badminton companion trainer device robot mechanism according to claim 1, it is characterized in that: said hit agency comprises: slide block assembly, said slide block assembly are connected with said guide and are movable in set scope with respect to said guide; The racket holder is to be connected with slide block assembly and can to move with said slide block assembly is movable; And driving mechanism, be to move with respect to said guide in order to drive said slide block assembly.
6. badminton companion trainer device robot mechanism according to claim 5, it is characterized in that: said driving mechanism specifically comprises: undersetting, shaft coupling, drive motors, screw-drive mechanism; Said screw-drive mechanism comprises screw rod and nut, and wherein said nut is fixedly connected with said slide block assembly; Said drive motors is fixed on the undersetting; Said shaft coupling one end is connected in the output shaft of said drive motors, and the other end is connected in the screw rod of said screw-drive mechanism.
7. badminton companion trainer device robot mechanism according to claim 6, it is characterized in that: said hit agency also comprises guide rod, and an end of said guide rod is installed on the said undersetting, and said slide block assembly is installed on the said guide rod, and said guide is provided with axis hole; Said hit agency also comprises connecting rod, is installed in the upper bracket of the other end of said guide rod, and said upper bracket is provided with the rotating shaft that articulates with the axis hole of guide; Said connecting rod one end and racket holder are rotationally connected, and the other end of said connecting rod and said slide block assembly are rotationally connected; Said racket holder is rotationally connected with said upper bracket simultaneously.
8. badminton companion trainer device robot mechanism according to claim 7 is characterized in that: said racket holder is provided with two bearing pins close to each other, and said upper bracket is provided with the support arm with dead eye; Said connecting rod be provided with said racket holder on the dead eye that is rotationally connected of one of them bearing pin, the support arm of said upper bracket is rotationally connected through another bearing pin on said dead eye and the said racket holder.
9. badminton companion trainer device robot mechanism according to claim 5; It is characterized in that: said guide is provided with and supplies the movable cam path of installing of said slide block assembly, and said cam path is by constituting or only be made up of the tilting section horizontal by acute angle perpendicular to the vertical section of horizontal plane with horizontal by the tilting section of acute angle; Said slide block assembly is provided with said cam path and realizes the roller that cam is connected.
10. badminton companion trainer device robot mechanism according to claim 1; It is characterized in that: said support section comprises the elevating mechanism that supplies said vertical rotation mechanism and said hit agency to install, and said elevating mechanism is in order to drive said vertical rotation mechanism and said hit agency; And/or omnidirectional's four-wheel drive mobile platform, move between diverse location in order to drive said badminton companion trainer device robot mechanism.
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| CN201110366272.XA CN102363073B (en) | 2011-11-17 | 2011-11-17 | Badminton partner training robot mechanism |
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| CN201110366272.XA CN102363073B (en) | 2011-11-17 | 2011-11-17 | Badminton partner training robot mechanism |
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| CN103272376A (en) * | 2013-06-18 | 2013-09-04 | 哈尔滨工业大学 | Robot capable of playing table tennis with human |
| CN104908044A (en) * | 2014-06-06 | 2015-09-16 | 苏州晓炎自动化设备有限公司 | Ball playing robot |
| CN105080082A (en) * | 2015-08-21 | 2015-11-25 | 安徽省无为县正大羽毛制品有限责任公司 | Shuttlecock hitting device of shuttlecock detecting machine |
| CN105561564A (en) * | 2016-02-17 | 2016-05-11 | 杨帆 | Racket-free tennis partner training device |
| CN105561563A (en) * | 2016-02-16 | 2016-05-11 | 杨帆 | Racket-free tennis partner training device |
| CN106416607A (en) * | 2015-11-21 | 2017-02-22 | 泉州市知产茂业工业设计有限公司 | Full-automatic corn stigma picking machine |
| CN106730714A (en) * | 2016-12-19 | 2017-05-31 | 绍兴凯健科技有限公司 | A kind of table tennis training mate robot |
| CN108398952A (en) * | 2018-03-22 | 2018-08-14 | 上海荷福人工智能科技（集团）有限公司 | Robot localization method and robot |
| CN108854005A (en) * | 2018-07-05 | 2018-11-23 | 麻春景 | A kind of all-around mobile shuttlecock robot |
| CN109589578A (en) * | 2019-01-28 | 2019-04-09 | 南京林业大学 | A kind of exercise-equipment of swinging the bat for shuttlecock training |
| CN110466635A (en) * | 2019-09-12 | 2019-11-19 | 浙江万里学院 | Electromagnetic releasing hopping robot and shuttlecock robot and electromagnetic releasing bouncing mechanism |
| CN112121381A (en) * | 2020-09-23 | 2020-12-25 | 田质全 | Movable badminton vertical net device |
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| CN103272376A (en) * | 2013-06-18 | 2013-09-04 | 哈尔滨工业大学 | Robot capable of playing table tennis with human |
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| CN108854005A (en) * | 2018-07-05 | 2018-11-23 | 麻春景 | A kind of all-around mobile shuttlecock robot |
| CN109589578A (en) * | 2019-01-28 | 2019-04-09 | 南京林业大学 | A kind of exercise-equipment of swinging the bat for shuttlecock training |
| CN109589578B (en) * | 2019-01-28 | 2023-12-26 | 南京林业大学 | A swing and clap exercise apparatus for badminton training |
| CN110466635A (en) * | 2019-09-12 | 2019-11-19 | 浙江万里学院 | Electromagnetic releasing hopping robot and shuttlecock robot and electromagnetic releasing bouncing mechanism |
| WO2021046947A1 (en) * | 2019-09-12 | 2021-03-18 | 浙江万里学院 | Electromagnetic release bouncing robot and badminton robot and electromagnetic release bouncing mechanism |
| CN112121381A (en) * | 2020-09-23 | 2020-12-25 | 田质全 | Movable badminton vertical net device |
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