CN103537088B - Service robot, people's table tennis bat, service robot and robot racket - Google Patents

Abstract

Present invention mainly discloses a kind of service robots of track batting.The structure composition of service robot includes: safty shield, rack fuselage direction direction regulator, and wherein most critical has guide rails fixing support, and device is added in ball, and motor and rotation are clapped.The above device structure simple principle is deeper, solving practical problems, greatlys improve and hits ball quality height.

Description

Service robot, people's table tennis bat, service robot and robot racket

Technical field

The present invention relates to A, a kind of table tenning ball servicing machine；B, a kind of service robot and robot are clapped with rotation.

Background technique

A. current pitching machine structure includes；Casing, friction push wheel apparatus, supplying device of ball, fuselage azimuth direction to adjust Device, service robot outlet, ball are that frictionally quickly rotation is hit wheel, and the direction of rotation of ball is by several release friction wheel from rotation The difference of number is realized.It yet there are no rail mounted service robot.Problems Existing has: hitting that ball speed is limited, and ball rotation speed is not Greatly, toss direction is inaccurate, and rapid wear ball, the device is complicated.

B. current service robot does not have to clap, and uses friction pulley, and robot used clap in picture poster is that people is clapped with plate.

It elaborates

A, the technical problem to be solved by the present invention is to be to provide a kind of hair of center of area track batting that can swing the bat with arc direction Ball machine ball is added in the atwirl service robot rotation bat with certain taper, rotation, which is clapped, drives ball for the helical movement, The service robot that can make ball that ball be dished out with ball speed, the revolving speed of purpose, the direction of purpose, the orientation of purpose is clapped in final rotation, these Speed index can be calculated by the revolution that motor, rotation are clapped, and it is Design Mechanism institute that toss accuracy is high, does not hurt ball, equipment simply It determines.

Above-mentioned technical problem of the invention is solved and providing a kind of operating of the service robot having the following structure. Service robot includes: safty shield, rack (5), fuselage azimuth direction adjuster (6), variable speed electric motors, particularly (1), it is characterised in that institute State service robot further include: service robot claps (2) with rotation, and ball is dished out guide rail, guide rail baffle (4), damper regulator (4-1), baffle Adjuster screw (4-2), ball are dished out mouth (4-3), motor side ball hole (3), guide rail baffle side ball hole (3-1), on rotation is clapped Equipped with pusher (2-1), ridge back bar (2-2) and starting section (2-3), common motor axis (1-1), motor flange are clapped in motor and rotation (1-2) and motor flange bolt (1-3)；

Connection relationship between service robot equipment components is as follows: pusher, that is, sponge laminate stickers lining is clapped bottom plate in rotation On the inside of bucket wall, the distribution of ridge back bar (2-2) as required is pasted on the sponge laminate of starting section, starting section is located at service Electromechanical machine side (see Fig. 1).With bolt by motor flange and rotation clap bottom base plate siding connect, thus assemble with The axis rotary body based on axis is clapped in rotation bat bottom plate, pusher, that is, sponge laminate, rotation.This rotary body is due on bottom base plate siding It is connected equipped with hole, and with motor-hollow axle hole, and designs it as ball adding channel.Each component of rotary body with angular speed coaxially to transport Turn, variable speed electric motors, particularly is mounted on the rack (see Fig. 1).

Connection relationship between each component of double-rail track and between rotary body (rotation is clapped) is as follows: being rotated by distance and claps bowl opening Certain distance, with rotation clap staving rotation guide rail baffle and rotation clap bowl opening edge form double-rail track.Baffle with Position dish out guide rail as ball of the bowl opening distance between the edge less than 40 millimeters is clapped in rotation, going out as ball greater than 40 millimeters Mouthful, it is adjusted with guide rail baffle adjuster.This baffle is fixedly connected with one page in hinge-type adjuster, and another page and motor are used Base is connected and fixed, and after regulating, is fixed with Antisliding bolt.This baffle center is equipped with a hole, and ball adding guide rail can also be stretched from this hole Enter, ball can be added and be sent to rotation bat starting section.

Ball is as follows from service robot sending process: starting service robot motor, drives rotation bucket (rotation bat) rotation, at this moment rotates Each component of bucket together, is made coaxially with angular speed rotary motion, and ball is from the ball import (3) of motor side or the ball import of rail-sides It is added to rotation at (3-1) and claps starting section (positioned at motor side, seeing Fig. 1), pusher and ridge back bar push ball to do circumference and axis The resultant motion pushed out.Through a period of time, ball is pulled to rotation and claps bowl opening edge, then enters double-rail track by inertia, most It dishes out afterwards from track toss mouth.

Wherein ball speed is related with revolving speed, diameter that rotation is clapped, and the size of revolving speed is also related with the coefficient of friction of pusher, quasi- Dish out guide rail, the equipment quality of ball outlet of exactness and ball is related.Service robot hit ball direction of rotation be can control it is adjustable, Because in service robot ball rotation direction with rotation clap direction of rotation it is identical, then, when service robot is laid flat i.e. service robot clap When axis is parallel to the ground, if it is upper rotation that mouth of dishing out, which is located at top when institute's toss, if mouth of dishing out is dished out when being transferred to lower section Ball is backspin.(illustrate it for upper by ball outlet) when the axis of i.e. service robot bat is perpendicular to the ground when service robot is stood up to clap Conrotatory turn institute's toss be it is left-handed, bats reverse rotation institute's toss be dextrorotation.The capable of emitting upper left lower-left of fuselage, the upper right for tilting service robot are right Chop comes etc., as long as so adjusting the orientation of ball outlet, needed for the direction of rotation of direction and motor can hit us Various screws come.Service robot be helical trajectory swing the bat the center of area batting best example, mechanism is that helical trajectory is swung the bat again The theoretical basis of center of area batting, it can drive away people's distrust, promote and recognize helical trajectory center of area batting feasibility of swinging the bat Know, promotes the development of table tennis technology.By the application practice of many years, helical trajectory center of area batsmanship of swinging the bat has been filled Real, extension, will receive numerous sportsmen, table tennis fan likes in the near future, occupy the summit of ping-pong sport technology.

B, the technical problem to be solved by the present invention is to --- by rotation clap circular motion, thus assign ball linearity fortune Energy simplifies the structure of service robot and robot (intelligent robot, the same below), and the ball for hitting quality needed for people comes. Above-mentioned technical problem of the invention is by solving such as the rotatable rotation of flowering structure bat, and it includes spongy layer which, which claps, Plate, rubber laminate further include taper, pot-shaped, barrel-shaped bat bottom plate or the bat bottom plate being combined by the arbitrary portion of its three or by The position of three and the bat bottom plate made, there are also the axis clapped on bottom plate and connector.

Detailed description of the invention

The embodiment that service robot of the invention, service robot and robot rotation are clapped is described below with reference to accompanying drawings.

Fig. 1-5 is the specific embodiment of service robot.

Fig. 6-12 is the specific embodiment that the rotation of service robot robot is clapped.

Specific embodiment

A1) Fig. 1,2,3,5 show first embodiment of service robot of the present invention, and the turning barrel that service robot rotation is clapped is tool There is the rotation staving of certain taper, the taper substantially that rotation is clapped as can be seen from Figure 1 can also from the simple data shown in it To calculate its taper.It rotates the material for clapping bottom plate (unified with the bottom plate of people's table tennis bat, for the cylindrical plate for touching ball, similarly hereinafter) Matter can be it is wooden, can be plastics, can also be metal etc..Rotation clap bottom plate be equipped with axis and be connected to the motor Component.It claps interior stickers lining pitted skin sponge laminate or with axial rubber striped laminate or rubber striped item etc. i.e. pusher, promotes The material of the striped item of device can be all materials for not hurting ball, can increasing frictional force such as the plastic foam of rubber, cork It is ok.The cross section of striped item in Fig. 3 in 46 stripes be it is rectangular can also be triangle, it is semicircular etc.. The setting purpose of pitted skin sponge laminate, axial striped item etc. is all the frictional force in moving for increase to ball, while reducing high speed Abrasion of the hard objects to ball when rotation, Just because of this, if the bottom plate that rotation is clapped is that have enough toughness and flexibility Material when, directly mill out striped item on bottom plate then can clap in rotation, or mill out a groove, be inlaid into striped item, when So rubber strip etc. out can also be directly pasted on clapping staving, the rib of metal can also be added in striped item, save at propeller The bottom plate clapped of rotation, replaced with the rib plate of metal, and it is connected and fixed with various methods and striped item, become simple Easy rotation is clapped.Shape, the size of distance, striped item between striped item will determine according to the size of the frictional force embodied It is fixed, if ball skids in operating, illustrates that frictional force is inadequate, should give improvement.Ball dishes out guide rail by certain away from rotation bat bowl opening Distance does not form two-wire guide rail with the guide rail baffle and rotation bat bowl opening edge of clapping rotation.Between baffle and bat bowl opening edge Part of the distance less than 40 millimeters can be used as guide rail, the position greater than 40 millimeters as ball export, calculate good shot outlet it is big Small, length, can also calculate baffle with clap bowl opening at a distance from and gradient, so that it may realize made on guide rail ball outlet mesh , and can be completed by the adjusting of guide rail baffle adjuster.The frame mode for the hinge that adjuster can be used, in hinge One page fixed with bolt and guide rail baffle, another page is fixed with the public base of motor.The axis of hinge is used to adjust toss guide rail The verticality of baffle, is fixed after mixing up with anti-skidding nut.Baffle leans on the slot hole bolt hole on base to solve at a distance from rotation bat Certainly, i.e. bolt movement in long hole comes adjustable range and the depth of parallelism.Operating can be used in adjusting about sag, the depth of parallelism, distance Preceding Primary regulation can also be adjusted in the variation of automatic control at any time in operation；It certainly is that the outlet designed greater than 40 millimeters can also led Round and smooth channel is milled out on access on rail baffle at the stationary exit of ball and its later.In addition, toss guide rail can be ring-type Semi-canal type, cyclic annular oval semi-canal type, cyclic annular channel steel formula etc., and suitable position aperture ball outlet can be made on loop.Also The systems such as pipeline or guide rail are added equipped with several bulbs, ball adding guide rail can be extend into rotation from guide rail baffle center port and clapped by this example It is interior；Can also be added out of the hollow shaft of motor, rotation are clapped hollow shaft (can clap motor, rotation when needing and be designed to hollow shaft Form).Time controller is set on the route that ball is added, controls the addition speed of ball.In addition, being added in system scope in ball Ball can be regarded as flow solids, property such as liquid, there is that potential difference is flowable, therefore the balls such as potential difference method can designed, system is added. The operating of service robot is as follows: when ball enters in the rotation bat being rotating, pusher pushes away it and circles, and claps and is formed when rotation Track when being super track, ball generates strong centrifugal force, and acts on the conical surface, therefore generates axial extrapolability, extrapolability with Taper is directly proportional, if the taper design that the rotation known to test is clapped is excessive, extrapolability can be excessive, when ball stops in rotation is clapped Between it is too short, cannot sufficiently obtain the energy of track, in addition ball enter guide rail angle it is excessive, it may occur that collision, the operating of ball is not Surely.Otherwise the residence time of ball can be too long, and ball can then go down in operating always in rotation is clapped in the state of zero draft.Required In ideal design range of taper, ball is walked outward along hand of helix, and toss guide rail is entered within the ideal time, later will Ball is dished out.Rotation, which is clapped, can save axis, and the axis of rotation that rotation is clapped is determined using the axis of motor, and connection is usually to use flange Bolt assembly or internal and external threads screw thread component are connected and fixed, and the biography such as belt pulley, belt or gear assembly, chain can also be used Dynamic connection type.For safety, the rotary part of service robot is for example rotated into bat, flange etc. all with safety guard cover.

A2) Fig. 1,2,3,4,5 show second embodiment of service robot of the present invention, in addition to pusher, other structures It is identical as first embodiment.Pusher on the basis of first embodiment, and starting section increase two or Several symmetrically arranged ridge back bars, this propeller are referred to as ridge back bar propeller (referring to Fig. 4), and ridge back bar cross section can be semicircle The spline of the rectangular, triangle of can also be for shape etc..The installing and fixing method of ridge back bar: screw can be used, it is also possible to which stickup is done Method etc. is fixed.Ridge back bar can be understood as increasing the frictional force between ball and pusher, start ball faster in starting section.Other fortune Turn identical as first implementation formula.

B) Fig. 6,7,8,9,10,11,12 show first embodiment that present invention rotation is clapped.Rotate the structure group clapped It include that bottom plate, axis handle, and the flange bolt of connection motor are clapped in rotation, and are used for inside and outside spiral shell at (please referring to Fig. 1,8,9,10) Liner pitted skin sponge laminate is clapped in the connected component of screw thread, rotation, or one layer of lining is covered with the rubber laminate of anti-skidding axial striped item, Or such as sequence one layer of sponge laminate of lining people's table tennis bat, then one layer is served as a contrast on sponge and is covered with skid resistance strip item Rubber laminate.Rotation to be clapped and is connected with robot arm, bat can be instructed, carry out process control, self-regulated, suitable, reverse rotation, And other what movements done.It is illustrated by taking batting operation as an example below.Its concrete operations is as follows: rotation being clapped from A and presses Fig. 6 Shown in arc direction wave to C point, passage in transit B point, the stress of each point is as follows: if the rotation revolving speed clapped is little In the case of, because ball just opens speed at A point, centrifugal force is also less than ball gravity, so the ingredient of batting face upward wants larger, gives The certain towing force of ball maintains balance.When ball is to B point, centrifugal force is greater than gravity, and ball is pressed on face, pushes continuation by bat Advance along arc direction, the speed at C point is bigger, and centrifugal force is also bigger, according to the direction of purpose, orientation (robot between BC Instruction) selection throw point, suffered resultant direction is put along it, and ball is dished out.Speed is closed caused by the far and near distance and stress of toss Size is directly proportional, and closely related with throwing angle.If the revolving speed (referring to Fig. 7) that rotation is clapped is dramatically increased, just It can realize and become rotary motion as linear motion, ball is dished out.As service robot, only rotate in place, do not do be displaced it is linear Movement, also can reduce in large quantities the linear movement of robot in this way, to reduce space displacement, simplify the structure of robot And movement.The size of the service robot cone angle used clapped can be calculated and be tested to adjust amendment through design, and cone angle is about shown in Fig. 8 Angular range out it is upper and lower.Service robot, robot bat all can be with the needs of development, it may appear that different requirements. When needing bat, ball to grow with the rail time, the machine racket of the Small Taper of 8, Figure 10, Figure 12 class can be used；When needing bat, ball with rail Between it is short, can be used the steep-taper of Fig. 9, Figure 11 class machine clap, in short, can between 0-180 degree optionally.

Claims (4)

1. a kind of table tenning ball servicing machine, composition includes: safty shield, rack (5), fuselage azimuth direction adjuster (6), change Speed motor (1), it is characterised in that the service robot further include: service robot claps (2) with rotation, and ball is dished out guide rail, guide rail baffle (4), damper regulator (4-1), damper regulator bolt (4-2), ball dish out mouth (4-3), motor side ball hole (3), guide rail gear Plate side ball hole (3-1), rotation, which is clapped, is equipped with pusher (2-1), ridge back bar (2-2) and starting section (2-3), and motor and rotation are clapped Common motor axis (1-1), motor flange (1-2) and motor flange bolt (1-3)；

Connection relationship between service robot equipment components is as follows: pusher, that is, sponge laminate stickers lining is clapped to the bucket wall of bottom plate in rotation Inside pastes the distribution of ridge back bar (2-2) as required on the sponge laminate of starting section, and it is electromechanical that starting section is located at service Machine side；Motor flange bottom base plate siding is clapped with rotation with bolt to connect；Thus assemble with rotate clap bottom plate, Pusher, that is, sponge laminate, rotation clap the axis rotary body based on axis；This rotary body bottom base plate siding is equipped with hole, and and motor Hollow axis hole is connected, and designs it as ball adding channel；Coaxially to run with angular speed, variable speed electric motors, particularly is mounted on each component of rotary body In rack.

2. service robot as described in claim 1, it is characterised in that: the starting section of pusher (2-1) is equipped with axial direction ridge back bar (2- 2)。

3. service robot as claimed in claim 1 or 2, it is characterised in that: the ball dishes out guide rail as two o'clock support double-rail track, and Guide rail baffle adjuster (4-1) is dished out equipped with ball.

4. a kind of table tenning ball servicing machine as described in claim 1 is clapped with rotation, it is characterised in that it is taper, bucket that it, which rotates bat, The rotation of shape, pot-shaped is clapped, have rotation clap axis and with pusher.