CN104474687A - Attractive ball serving robot - Google Patents
Attractive ball serving robot Download PDFInfo
- Publication number
- CN104474687A CN104474687A CN201410774892.0A CN201410774892A CN104474687A CN 104474687 A CN104474687 A CN 104474687A CN 201410774892 A CN201410774892 A CN 201410774892A CN 104474687 A CN104474687 A CN 104474687A
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- China
- Prior art keywords
- type housing
- sheave
- snail type
- roller
- rollers
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- 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.)
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Abstract
The invention relates to an attractive ball serving robot. The attractive ball serving robot consists of a motor, a snail-type shell, an ox-horn funnel, a grooved pulley support and a rail, wherein the motor and the ox-horn funnel are welded on the snail-type shell, the snail-type shell is connected to the grooved pulley support through a rotating shaft, the grooved pulley support makes contact with the rail in a rolling manner, and the motor is connected to the grooved pulley support in a welding manner. The attractive ball serving robot is simple, reasonable and novel in structure and simple to operate, not only can substitute a volleyball training partner to accompany the training, but also can improve the training effect and is high in practicability.
Description
Technical field
The invention belongs to robotics, particularly relate to a kind of volleyball training equipment.
Background technology
Training effect is poor in actual applications for current volleyball training equipment, can't really simulate training mate person's action, service firmly regulates and mobilely serve a ball, pass, sets up, kowtows the highly difficult training such as ball and still lean on training mate person to realize, such training mate person's working strength is large, efficiency is low and training mate person does not possess the long-time ability for ball, directly affects the lifting of trainer's technical ability.
Summary of the invention
The object of the invention is: the pitching robot providing a kind of beauty, its simple and reasonable novelty, manipulate easy, cost is low, and can overcome the defect in background technology and have its advantage concurrently, training effect is good, practical.
Realizing the technical solution used in the present invention is: this equipment is made up of motor, snail type housing, ox horn formula funnel, sheave support and track, motor, ox horn formula funnel are welded on snail type housing, snail type housing is connected with sheave support through rotating shaft, sheave support and track Structure deformation, motor is connected with sheave support through welding.
Power is provided in order to give the different action of impact vollyball, regulate the size of power of playing ball, simulation training mate person walk about service, pass, set up, kowtow the actions such as ball, this motor has three, First is adjustable frequency motor and snail type case weld, and its axle vertically inserts in snail type housing, axle head is welded service robot; Second is welded on the upside of snail type housing for stepper motor, its axle has angular wheel, percussion block and gear; 3rd is that adjustable frequency motor is connected to sheave pedestal lower end through welding, bearing.
In order to simulate the various action of playing ball of training mate person, and the difficulty that raising trainer receives, one section, the place cavity of snail type housing ball mouth is for falling horn, overlap horn that can twist outside ball mouth and bulb, go out and bulb inwall has helix and is connected with one section, snail type housing ball mouth place chamber activities through roller, ball mouth one side is provided with little axle, ball mouth left surface has a small sircle hole, right flank has a big hole, upper side has a rectangular opening, there is a rotating shaft downside, small sircle hole, big hole and the ox horn formula funnel end opening center of circle relative, hemispherical ball mould is provided with in ox horn formula funnel, axle is had along on hemispherical ball mould opening diameter, this beam warp bearing and ox horn formula hopper walls Structure deformation, its axle head has angular wheel.
To walk about impact vollyball various action to simulate training mate person, be provided with three sheaves at sheave pedestal lower end to be all connected with sheave support through bearing, first sheave and the 3rd frequency conversion motors coaxial and roll on one article of track with second sheave, 3rd sheave rolls on another article of track, the beam warp adjusting rod of the 3rd sheave is connected with the little axle of snail type housing ball mouth one side, and adjusting rod has adjustment hole.
In order to vollyball being got in trainer region, the service robot arranged is reducing tubulose, service robot bigger diameter end is segment shape, the two segment opening centers of circle are relative, service robot miner diameter end is oval opening, there is a spring right angled triangle gauge tap oval opening side, the little acute ends of gauge tap is welded on service wall, the large acute ends of gauge tap stretches in service wall, it is outer and with miniature roller and rectangular opening that gauge tap right angle end stretches out service wall, an end band spring chock shape sliding shoe is interspersed with in rectangular opening, sliding shoe slides in rectangular slot along on service robot outer wall.
Good effect of the present invention is: simple and reasonable novelty, training mate person can be simulated to walk about service, pass, dig, kowtow ball etc. to play ball action, firmly adjustable, the volleyball movement direction impacted out can change at random, rotate precisely strong, the control to course of action and falling sphere point can be realized, the whole Training Area of trainer can be covered, trainer's difficulty of receiving is large, training difficulty is high, but also can reduce training difficulty, than similar equipment service flexibly, motor-driven, fast, service automaticity is high, the respond of energy train athletes and ability of adjusting to changed conditions, can train each action of trainer, and meet the needs of trainer's physical efficiency and combat training, exercise skill promotes fast, also can for teaching, practical.In use on surrounding environment and resident living without any impact, be not only suitable for public area, greenery patches, be also applicable to residential quarter activity and take exercise, applied widely.Easy making compared with similar equipment and function same parts in making, makes that recruitment is few, energy consumption is low, material therefor source is wide, price is low, easily popularizes.
Accompanying drawing explanation
Accompanying drawing 1 is external structure schematic diagram of the present invention;
Accompanying drawing 2 is the side view of accompanying drawing 1;
Accompanying drawing 3 is the top view of accompanying drawing 1;
Accompanying drawing 4 is that the A-A of accompanying drawing 1 is to snail type housing sectional view;
Accompanying drawing 5 is that B-B on accompanying drawing 2 is to ox horn formula funnel sectional view;
Accompanying drawing 6 is the service robot external structure schematic diagram on accompanying drawing 4;
Accompanying drawing 7 is the top view of accompanying drawing 6;
Accompanying drawing 8 is first spherical ball mould external structure schematic diagram of accompanying drawing 5;
Accompanying drawing 9 is the top view of accompanying drawing 8;
Accompanying drawing 10 is roller on accompanying drawing 4 and band tooth turning rolls external structure schematic diagram;
Accompanying drawing 11 is the top view of accompanying drawing 10;
Accompanying drawing 12 is the side view of accompanying drawing 10;
Accompanying drawing 13 is the system schematic of module control motor;
Accompanying drawing 14 is the percussion block drawing on second step motor shaft;
Accompanying drawing 15 is the side view of accompanying drawing 14;
Accompanying drawing 16 is the partial structurtes drawing of accompanying drawing 6;
Accompanying drawing 17 is the top view of accompanying drawing 16;
Accompanying drawing 18 is that the D-D of accompanying drawing 16 is to sectional view;
Accompanying drawing 19 is that the C-C of accompanying drawing 6 welds schematic diagram to sectional view, i.e. First variable-frequency electric machine shaft end with service robot.
Detailed description of the invention
The present invention is as shown in accompanying drawing 1,2,3, this equipment is made up of motor 1, snail type housing 2, ox horn formula funnel 3, sheave support 4 and track 4120,4130, motor 1, ox horn formula funnel 3 are welded on snail type housing 2, snail type housing 2 is connected with sheave support 4 through rotating shaft 21, motor 1 welds with sheave support 4, sheave support 4 and track 4120,4130 Structure deformation.In order to provide power to different action of playing ball, regulate size firmly of playing ball, simulation training mate person walks about service, pass, dig, kowtow the actions such as ball, this motor 1 has three, First is that adjustable frequency motor 11 is welded on snail type housing 2, its axle vertically inserts in snail type housing 2, its axle head is welded service robot 111, service robot 111 is reducing tubulose, bigger diameter end is segment shape, the two segment opening centers of circle are relative, little scarce round opening 1111 is welded and fixed with First adjustable frequency motor 11 axle head, the large circle opening 1112 that lacks is used for putting into ball, service robot 111 miner diameter end is oval opening, one sidewall there is a spring right angled triangle gauge tap 1113, the little acute ends 11131 of right angled triangle gauge tap 1113 is weldingly fixed on service robot 111 wall, large acute ends 11132 stretches in service robot 111, it is outer and with miniature roller 11134 and rectangular opening that right angle end 11133 stretches out service wall, the chock shape sliding shoe 11136 of an end band spring 11135 is interspersed with in rectangular opening, sliding shoe 11136 slides along in rectangular slot on service robot 111 outer wall 11137, guide post is had in spring 11135, guide post one end is welded with sliding shoe 11136, in hole on the fixed block 11138 that the other end interts on service robot 111 wall, second is welded on the upside of snail type housing 2 for stepper motor 12, the axle of stepper motor 12 has angular wheel 121, percussion block 122 and gear 123, 3rd is that adjustable frequency motor 13 is connected to sheave support 4 lower end through welding, bearing, and these three motors 1 are controlled (as shown in Fig. 1,2,3,4,6,7,13) by a control module 5.To angle action to simulate training mate person, snail type housing 2 ball mouth 22 one section, place cavity is for falling horn, overlap horn that can twist outside ball mouth and bulb 25, go out on bulb 25 inwall and have helix, and to roll with snail type housing ball mouth 22 one section, place cavity through roller 250 and be connected, this roller 250 has two kinds, the first has four isometrical rollers 2501 to be connected to out on bulb 25 inwall through wheel carrier 2502 is equidistant, roll along going out bulb 25 length direction and roll in the first roller groove 2503 that can only arrange on snail type housing ball mouth 22 one section, place chamber outer wall, the first roller groove 2503 has four, isometrical roller 2501 is corresponding with the first four respectively, the second has eight rollers 2504, a large size roller 25041, two isometrical rollers of medium size 25042 and five isometrical rollers 25043 of trumpet, they respectively warp beam be all connected to one band tooth 2506 rolling frame 2505 on, one of them large size roller 25041, a small size roller 25043 and two isometrical rollers of medium size 25042 are equidistant is arranged on one of band tooth 2506 rolling frame 2505 circumferentially, two isometrical medium size rollers 25042 are diametrically symmetrical arranged at band tooth 2506 rolling frame 2505, large size roller 25041 and small size roller 25043 are separately positioned on the both sides of two isometrical medium size rollers 25042, other four small size rollers 25043 are equidistant be arranged on band tooth 2506 rolling frame 2505 another circumferentially, large size, medium size and small size eight rollers 2504 all roll in same circumferential groove on snail type housing ball mouth 22 one section, place chamber outer wall, engage with the gear 123 on second stepper motor 12 axle with the tooth 2506 on tooth rolling frame 2505, the one side of snail type housing 2 ball mouth 22 is provided with little axle 23 be used for regulating ball launch angle, the small sircle hole of left surface is used for inserting the axle of First adjustable frequency motor 11, the big hole of right flank is used for putting ball, the rectangular opening 24 of upper side is used for by percussion block 122, the rotating shaft 21 of downside is used for being connected on sheave support 4 and also regulates angle of playing ball, big hole and the service robot 111 bigger diameter end two segment opening center of circle on ox horn formula funnel 3 end opening and the small sircle hole on the left of snail type housing 2 ball mouth 22, right side are relative, hemispherical ball mould 31 is provided with in ox horn formula funnel 3, axle 32 is provided with along on hemispherical ball mould 31 opening diameter, this axle 32 is through bearing and ox horn formula funnel 3 wall Structure deformation, and this axle 32 one end has angular wheel 33 to engage with the angular wheel 121 on second stepper motor 12 axle (as shown in Fig. 1,2,3,5,8,9).To walk about service to simulate training mate person, pass, dig, kowtow the actions such as ball, three sheaves 41 are provided with in sheave support 4 lower end, three sheaves 41 are all connected to sheave support 4 lower end through bearing and axle, first sheave 411 and the 3rd frequency conversion motors 13 coaxial and roll on one article of semicircular arc track 4120 with second sheave 412, 3rd sheave 413 rolls on another article of semicircular arc track 4130, two semicircular arc track 4120, the center of circle of 4130 is concentric, the beam warp adjusting rod 42 of the 3rd sheave 413 is flexibly connected with the little axle 23 of snail type housing 2 ball mouth 22 one side, adjusting rod 42 there is adjustment hole 421, be used for regulating various angle of playing ball (as Fig. 1, 2, shown in 3).
Operation principle of the present invention and using method: twice concentric semicircles arc track 4120 is set playing ball in district, 4130, semicircular arc track 4120, 4130 openings are towards net, this equipment is placed on track, first sheave 411, second sheave 412 is placed on large radius semicircular arc track 4120, 3rd sheave 413 is placed on minor radius semicircular arc track 4130, angle of playing ball is regulated with adjusting rod 42, then this equipment is started, three motors 1 are under the programme-control of setting, 3rd frequency conversion motors 13 drives sheave 411 at semicircular arc track 4120, reciprocate on 4130, second stepper motor 12 is through angular wheel 121, 33 drive the hemispherical ball mould 31 in ox horn formula funnel 3 to rotate, the service robot 111 of snail type housing 2 put into one by one by vollyball in ox horn formula funnel 3, the oval mouth of miner diameter end that the centrifugal force that service robot 111 produces under the driving effect of First adjustable frequency motor 11 makes vollyball move to service robot 111 from service robot 111 bigger diameter end is controlled by spring right angled triangle gauge tap 1113, when rectangular opening 24 on the upside of service robot 111 miner diameter end turns to snail type housing 2 ball mouth 22, the sliding shoe 11136 on right angled triangle gauge tap 1113 is touched by the percussion block 122 on second stepper motor 12 axle, sliding shoe 11136 is pressed in the rectangular opening on right angled triangle gauge tap 1113 right angle end along rectangular slot 11137 slip, the large acute angle stretching into the right angled triangle gauge tap 1113 in service robot 111 becomes large instantaneously, stretch to outside service robot 111, vollyball departs from service robot 111 and enters out bulb 25 through snail type housing 2 ball mouth 22, going out under the effect of bulb 25 helix to produce rotation, gear 123 on second stepper motor 12 axle drives band tooth 2506 turning rolls 2505 to rotate, at large size, under medium size and small size roller 250 act on, go out bulb 25 and produce torsion, impact to the volleyball movement direction of trainer with and change, add the difficulty of receiving of trainer, sliding shoe 11136 on right angled triangle gauge tap 1113 sets back under the spring action of its one end, the large acute angle 11132 of right angled triangle gauge tap 1113 diminishes and extend in service robot 111, control next ball, repeat said process, this equipment can continue to play ball.Because the beam warp adjusting rod 42 of the 3rd sheave 413 is flexibly connected with the little axle 23 of the side of snail type housing 2 ball mouth 22, and adjusting rod 42 has adjustment hole 421, can serve a ball, pass, set up and kowtow the actions such as ball to trainer after regulating angle of playing ball and train.Because this equipment moves service, constantly change serving position and serving side to, go out the twisting of bulb 25, output direction of ball compound consecutive variations in addition, can the respond of train athletes and flexible ability, training difficulty is high, skill improvement is fast.If trained certain action of trainer, this equipment is parked in certain position on track and with adjusting rod 42 adjust this action ball launch angle, unload again second stepper motor axle head gear, abdicate bulb 25 and twist the position that this training action needs, then adjust the rotating speed of First adjustable frequency motor 11.
Claims (7)
1. a beautiful pitching robot, it is characterized in that: it is made up of motor, snail type housing, ox horn formula funnel, sheave support and track, motor, ox horn formula funnel are welded on snail type housing, snail type housing is connected with sheave support through rotating shaft, sheave support and track Structure deformation, motor and sheave support welding.
2. the pitching robot of a kind of beauty according to claim 1, it is characterized in that: described motor has three, First is that adjustable frequency motor is welded on snail type housing, and the axle of this adjustable frequency motor vertically inserts in snail type housing, axle head is welded service robot; Second is welded on the upside of snail type housing for stepper motor, the axle of this stepper motor has angular wheel and percussion block and gear; 3rd is that adjustable frequency motor is connected to sheave pedestal lower end through welding, bearing.
3. the pitching robot of a kind of beauty according to claim 1, it is characterized in that: described one section, snail type housing ball mouth place cavity is for falling horn, overlap a horn outside ball mouth to go out bulb and contact with one section, snail type housing ball mouth place chamber activities through roller, the one side of ball mouth has little axle, upper side has rectangular opening, there is rotating shaft downside.
4. the pitching robot of a kind of beauty according to claim 1, is characterized in that: have hemispherical ball mould in described ox horn formula funnel, have axle along ball mould opening diameter, and this beam warp bearing and ox horn formula hopper walls Structure deformation, there is angular wheel one end of axle.
5. the pitching robot of a kind of beauty according to claim 1, it is characterized in that: described sheave pedestal lower end has three sheaves connected through bearing, first sheave and the 3rd frequency conversion motors coaxial and roll on one article of track with second sheave, 3rd sheave rolls on another article of track, the beam warp adjusting rod of the 3rd sheave is connected with the little axle of snail type housing ball mouth one side, and adjusting rod has adjustment hole; Article two, track is semicircular arc, and the center of circle of two halves circular arc track is concentric.
6. the pitching robot of a kind of beauty according to claim 2, is characterized in that: described service robot is reducing tubulose, and service robot bigger diameter end is segment shape, and the two segment opening centers of circle are relative; Service robot miner diameter end is oval opening, there is a spring right angled triangle gauge tap oval opening side, the little acute ends of gauge tap is welded and fixed and is connected on service wall, the large acute angle of gauge tap stretches in service wall, it is outer and with miniature roller and rectangular opening that gauge tap right angle end stretches out service wall, be interspersed with a band spring chock shape sliding shoe in rectangular opening, sliding shoe slides along in the rectangular slot on service robot outer wall.
7. the pitching robot of a kind of beauty according to claim 3, it is characterized in that: described roller has two kinds, the first has four isometrical rollers roll through equidistant being connected to out on bulb inwall, along going out bulb length direction of wheel carrier and rolling in the first roller groove that can only arrange on one section, snail type housing ball mouth place chamber outer wall, the first roller groove has four, respectively should with the first four isometrical pair of rollers, the second has eight rollers, a large size roller, two isometrical rollers of medium size and five isometrical rollers of trumpet, they respectively warp beam be all connected on a toothed rolling frame, one of them large size roller, a small size roller and two isometrical rollers of medium size are equidistant is arranged on one of band tooth rolling frame circumferentially, two isometrical medium size rollers are diametrically symmetrical arranged at band tooth rolling frame, large size roller and small size roller are arranged on the both sides of two isometrical rollers, other four small size rollers are equidistant be arranged on band tooth rolling frame another circumferentially, large size, medium size and small size eight rollers all roll in same circumferential groove on snail type housing ball mouth cavity one section of outer wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410774892.0A CN104474687A (en) | 2014-12-16 | 2014-12-16 | Attractive ball serving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410774892.0A CN104474687A (en) | 2014-12-16 | 2014-12-16 | Attractive ball serving robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104474687A true CN104474687A (en) | 2015-04-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410774892.0A Pending CN104474687A (en) | 2014-12-16 | 2014-12-16 | Attractive ball serving robot |
Country Status (1)
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| CN (1) | CN104474687A (en) |
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| CN86101172A (en) * | 1985-04-03 | 1986-10-01 | 加里·盖切尔 | Table tennis ball serving device |
| CN2130565Y (en) * | 1992-08-31 | 1993-04-28 | 陈同科 | Table tennis serving machine |
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| CN2614361Y (en) * | 2003-04-23 | 2004-05-05 | 赵必清 | Small-sized self-poking numerical selector |
| CN2695065Y (en) * | 2003-12-28 | 2005-04-27 | 成云广 | Intelligent table tennis, football goalkeeper training machine |
| CN1824351A (en) * | 2006-03-27 | 2006-08-30 | 陈孟富 | Table tenning ball servicing machine |
| CN1861233A (en) * | 2006-06-10 | 2006-11-15 | 合肥工业大学 | Equipment for volleyballer training use |
| CN101181666A (en) * | 2006-11-13 | 2008-05-21 | 中国计量学院 | Vollyball exercising machines |
| CN201253464Y (en) * | 2008-05-10 | 2009-06-10 | 杨子奕 | Transmitting tube swing mechanism of pingpong pitching machine |
| CN101898032A (en) * | 2010-04-02 | 2010-12-01 | 哈尔滨工程大学 | Tennis trainer |
| CN202044741U (en) * | 2010-12-03 | 2011-11-23 | 覃亚洲 | Automatic volleyball pitching machine |
| CN202387195U (en) * | 2011-12-27 | 2012-08-22 | 焦作大学 | Universally automatic rotary stretching-type pitching machine |
| CN103752001A (en) * | 2014-01-28 | 2014-04-30 | 曹玉升 | Training device for hitting shuttlecock with robot |
| CN203598454U (en) * | 2013-10-22 | 2014-05-21 | 万厚全 | Ball supply system commonly used for squash and soft tennis |
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2014
- 2014-12-16 CN CN201410774892.0A patent/CN104474687A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4345577A (en) * | 1978-02-27 | 1982-08-24 | Andersson Uno K T | Spring type apparatus for projecting balls |
| CN86101172A (en) * | 1985-04-03 | 1986-10-01 | 加里·盖切尔 | Table tennis ball serving device |
| CN2130565Y (en) * | 1992-08-31 | 1993-04-28 | 陈同科 | Table tennis serving machine |
| CN2517047Y (en) * | 2002-01-10 | 2002-10-16 | 万里 | Portable lottery ticket numerical selector |
| CN2614361Y (en) * | 2003-04-23 | 2004-05-05 | 赵必清 | Small-sized self-poking numerical selector |
| CN2695065Y (en) * | 2003-12-28 | 2005-04-27 | 成云广 | Intelligent table tennis, football goalkeeper training machine |
| CN1824351A (en) * | 2006-03-27 | 2006-08-30 | 陈孟富 | Table tenning ball servicing machine |
| CN1861233A (en) * | 2006-06-10 | 2006-11-15 | 合肥工业大学 | Equipment for volleyballer training use |
| CN101181666A (en) * | 2006-11-13 | 2008-05-21 | 中国计量学院 | Vollyball exercising machines |
| CN201253464Y (en) * | 2008-05-10 | 2009-06-10 | 杨子奕 | Transmitting tube swing mechanism of pingpong pitching machine |
| CN101898032A (en) * | 2010-04-02 | 2010-12-01 | 哈尔滨工程大学 | Tennis trainer |
| CN202044741U (en) * | 2010-12-03 | 2011-11-23 | 覃亚洲 | Automatic volleyball pitching machine |
| CN202387195U (en) * | 2011-12-27 | 2012-08-22 | 焦作大学 | Universally automatic rotary stretching-type pitching machine |
| CN203598454U (en) * | 2013-10-22 | 2014-05-21 | 万厚全 | Ball supply system commonly used for squash and soft tennis |
| CN103752001A (en) * | 2014-01-28 | 2014-04-30 | 曹玉升 | Training device for hitting shuttlecock with robot |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150401 |