CN104474689B - A kind of electrodynamic mechanical type tennis serve machine - Google Patents

Abstract

A kind of electrodynamic mechanical type tennis serve machine, it is made up of snail sandwich type element, motor, ox horn formula funnel, support and drive link, motor, ox horn formula funnel are welded on snail sandwich type element, support is connected through support shaft with motor, ox horn formula funnel, motor is welded with support, and drive link one end is connected through eccentric shaft with support, the other end is connected through small axle with snail sandwich type element.The simple and reasonable novelty of the present invention, it is easy to operate, tennis training mate person's training mate can be substituted, training effect can be improved again, it is practical.

Description

A kind of electrodynamic mechanical type tennis serve machine

Technical field

The invention belongs to robotic technology field, more particularly to a kind of tennis training equipment.

Background technology

Current tennis training machine mainly has following several forms, single-wheel type tennis ball pitching machine, movable tennis training aid, one kind Suitable for the ball serving device of tennis training.Single-wheel type tennis ball pitching machine, simple in construction, cost is low, by computer control, will not produce Raw card ball, adjustable serve speed, but can not automatically move service, can not adjust direction of serving a ball, although adjustable serve speed, lean on Single friction pulley service, serve speed control is poor, and course of action and falling sphere point also are difficult to control, and training difficulty is low and can not carry Rise, can be only applied to simple exercise action, poor practicability；Movable tennis training aid, it is removable to use using easy to operate, send out Ball speed is adjustable, and drop point is steady, low manufacture cost, but can not automatically move service, can not adjust automatically serve a ball direction, although Adjustable serve speed, can move and use, but be difficult to realize highly difficult training action, whard to control to course of action and falling sphere point, automatically Change degree is low, poor sensitivity, is unfavorable for the lifting of technical ability；A kind of ball serving device suitable for tennis training, simple in construction, safety Reliably, cost is low, simple to operate, but can not simulate the mobile delivery of service service of training mate person, although rotary shaft is arranged in sleeve pipe And can facing sleeve move up and down, also can 360 ° rotation, but be unable to adjust automatically ball launch angle and rotary shaft and gun barrel connection Also it can not rotate, also not drive the actuating unit for adjusting service direction and rotation, people's operation can only be leaned on to be set using base surrounding It is equipped with direction castor to rotate, automaticity is low, randomness is poor, training difficulty is low, the exercise skill of sportsman is difficult lifting, Other pitching mouth upper end opening is provided with controller, therefore is difficult control service number every time by induction installation and jettron, no Training mate person's training mate delivery of service can be simulated, the skill improvement of trainer is directly affected.

The content of the invention

The purpose of the present invention is：A kind of electrodynamic mechanical type tennis serve machine is provided, its simple and reasonable novelty, manipulation letter Just, low cost, 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：The equipment is by snail sandwich type element, motor, ox horn formula funnel, support And drive link is constituted, motor, ox horn formula funnel are welded on snail sandwich type element, and support is through support shaft and motor, ox horn formula funnel Connection, motor is welded with support, and drive link one end is connected through eccentric shaft with support, the other end connects through small axle and snail sandwich type element Connect.

In order to give impact tennis difference action to provide power, the size of regulation impact tennis power, simulation training mate person walks about hair Ball, forehand smash, the tune action such as ball and smash, the motor have three, and First is that adjustable frequency motor is welded on snail type shell On body, its axle is inserted perpendicularly into snail sandwich type element, shaft end is welded service robot；Second is that stepper motor is welded on snail type On the upside of housing, there are angular wheel, firing device and gear on its axle；3rd is that adjustable frequency motor is welded, bearing is connected to Pedestal lower end.

In order to simulate the various impact tennis actions of training mate person, and the difficulty that trainer receives is improved, snail sandwich type element goes out ball One section of the place cavity of mouth is has helix on horn and inwall, and ball mouth outer sheath a horn that can be twisted and goes out ball Pipe, goes out on bulb inwall to have helix and is connected through roller with one section of chamber activities at snail sandwich type element ball mouth, ball mouth Small axle is simultaneously provided with, ball mouth left surface has a small sircle hole, right flank to have a big hole, upper side to have a rectangular opening, small Circular hole, big hole and the ox horn formula funnel Xia Kou centers of circle are relative；Hemispherical ball mould is provided with ox horn formula funnel, along hemispherical ball mould There is axle on opening diameter, the axle is in rolling contact through bearing with ox horn formula hopper walls, and there is angular wheel its shaft end.

In order to simulate training mate person walk about impact the various actions of tennis, pedestal upper end is provided with support shaft, lower end and is provided with Three sheaves are connected through bearing with support, and first sheave is coaxial with the 3rd frequency conversion motors and exists with second sheave Rolled on one track, the 3rd sheave is rolled on another article of track, has eccentric shaft through drive link and snail on the 3rd sheave The small axle connection of ox sandwich type element ball mouth one side.

In order to which tennis is accurately impacted in trainer region, the service robot of setting is reducing tubulose, the big footpath of service robot Hold as segment shape, the two segment opening centers of circle are relative, service robot miner diameter end is oval opening, and there is a spring oval opening side Right angled triangle controlling switch, the small acute ends of the controlling switch are welded on service wall, big acute ends are stretched into service wall, Right angle end, which is stretched out outside service wall and carried, is interspersed with one end band spring chock shape in miniature roller and rectangular opening, rectangular opening Sliding shoe, sliding shoe are slided along along service robot in rectangle guide groove.

The positive effect of the present invention is：Simple and reasonable novelty, can simulate training mate person walk about service, froehand-backhand drive, The exceedingly difficult movements such as ball, impact smash are adjusted, firmly be can adjust, service can be pinpointed and multi-direction can be served a ball, training can be covered The whole Training Area of member and continuously adjustable service direction, the ball direction of motion that impacts out can at random change and can revolve Turning strong precisely can realize the control to course of action and falling sphere point, and trainer receives difficulty greatly, and training difficulty is high, but can also reduce Difficulty is trained, service automaticity more flexible, motor-driven, quick than the service of similar equipment is high etc., the reaction energy of energy train athletes Power and ability of adjusting to changed conditions, each to trainer can act and be trained, the need for meeting trainer's physical efficiency and combat training, Skill training lifting is fast, also is available for teaching and uses and personal entertainment, practical.When in use to surrounding environment and resident living There is no any influence, be not only applicable public area, greenery patches, be also applied for residential area activity exercise, it is applied widely, Easily made compared with similar equipment and critical piece in terms of making, making recruitment is few, it is low to consume energy, material therefor source is wide, valency Lattice are low, easily popularize.

Brief description of the drawings

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 2；

Accompanying drawing 4 for accompanying drawing 1 A-A to snail sandwich type element sectional view；

Accompanying drawing 5 is the B-B direction ox horn formula funnel sectional view on accompanying drawing 2；

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 the upper half 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 for the roller on accompanying drawing 4 and with tooth rolling frame 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 controlled motor；

Accompanying drawing 14 is the firing device 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 for accompanying drawing 16 D-D to sectional view；

Accompanying drawing 19 for accompanying drawing 6 C-C to sectional view, i.e. the first frequency conversion motors shaft end and service robot weld sectional view.

Embodiment

The present invention is as shown in accompanying drawing 1,2,3, and the equipment is by motor 1, snail sandwich type element 2, ox horn formula funnel 3, support 4 and passes Lever 42 is constituted, and motor 1, ox horn formula funnel 3 are welded on snail sandwich type element 2, and support 4 leaks through support shaft and motor 1, ox horn formula Bucket 3 is connected, and motor 1 welds with support 4, the one end of drive link 42 is connected through eccentric shaft 4131 with support 4, the other end through small axle 23 and Snail sandwich type element 2 is connected.Power is provided in order to impact tennis difference action, the size of impact tennis power is adjusted, and simulates training mate person Walk about service, froehand-backhand drives, adjusts the exceedingly difficult movements such as ball and impact smash, and the motor 1 has three, and First is variable-frequency electric Motivation 11 is welded on snail sandwich type element 2, and its axle is inserted perpendicularly into snail sandwich type element 2, and its shaft end is welded service robot 111, service robot 111 is reducing tubulose, and bigger diameter end is segment shape, and the two segment opening centers of circle are relative, small scarce circle opening 1111 with The shaft end of first frequency conversion motors 11 is welded, and the big circle opening 1112 that lacks is used for being put into ball, and the miner diameter end of service robot 111 is opened for ellipse There are a spring right angled triangle controlling switch 1113, the small acute angle of right angled triangle controlling switch 1113 on mouth, side wall End 11131 is welded on the wall of service robot 111, and big acute ends 11132 are stretched into service robot 111, and service robot is stretched out at right angle end 11133 Wall is outer and with miniature roller 11134 and rectangular opening, and being interspersed with chock shape of the one end with spring 11135 in rectangular opening slides Block 11136, sliding shoe 11136 is slided along along the outer wall of service robot 111 in rectangle guide groove 11137, has guiding in spring 11135 Bar, guide rod one end and sliding shoe 11136 are welded, the other end is interspersed in hole on the fixed block 11138 on the wall of service robot 111 It is interior；Second is that stepper motor 12 is welded on the upside of snail sandwich type element 2, there is angular wheel 121, percussion on the axle of stepper motor 12 Device 122 and gear 123；3rd is that adjustable frequency motor 13 is welded, bearing is connected to the lower end of support 4, and this three motors 1 are by one Individual control module 5 is controlled（As shown in Fig. 1,2,3,4,6,7,13,14,15,16,17,18,19）.Turned down to simulate training mate person Ball, heighten ball action, make that the ball rotation that impact goes out is strong precisely, tennis direction can be changed at random, lethality it is strong, can improve Trainer, which receives, reaction speed and to adjust to changed conditions ability, and one section of cavity is horn and interior at the ball mouth 22 of snail sandwich type element 2 Have helix on wall, ball mouth outer sheath a horn that can be twisted and goes out bulb 25, go out on the inwall of bulb 25 to have helix, And connection is rolled through one section of cavity at roller 250 and snail sandwich type element ball mouth 22, the roller 250 has two parts, Part I Have four isometrical rollers 2501 through wheel carrier 2502 it is equidistant be connected to out on the inwall of bulb 25, along go out the length direction of bulb 25 roll And rolled in the Part I roller groove 2503 that can only be set on one section of chamber outer wall at snail sandwich type element ball mouth 22, first Part roller groove 2503 has four, respectively with four isometrical correspondences of roller 2501 of Part I；Part II has eight rollers 2504, a large size roller 25041, the isometrical roller 25042 of two medium sizes and the isometrical roller 25043 of five trumpets, they distinguish Warp beam is both connected on a rolling frame 2505 with tooth 2506, one of large size roller 25041, an isometrical roller of trumpet 25043 and the isometrical roller 25042 of two medium sizes be equidistantly positioned on a circumference with tooth rolling frame 2505, large size roller 25041 and small size isometrical roller 25043 be diametrically symmetrical arranged in band tooth rolling frame 2505, the isometrical roller 25042 of two medium sizes Large size roller, the both sides of small size isometrical roller are arranged on, the small size isometrical roller 25043 of four additional is equidistantly positioned in band tooth rolling On another circumference of moving frame 2505, eight rollers 2504 of the isometrical roller of large size roller, medium size and small size isometrical roller are in snail Rolled at ox sandwich type element ball mouth 22 on one section of chamber outer wall circumference in same groove, with the He of tooth 2506 on tooth rolling frame 2505 Gear 123 on second axle of stepper motor 12 is engaged, and the one side of the ball mouth 22 of snail sandwich type element 2, which is provided with small axle 23, to be used for The various operating angles of regulation impact tennis, the small sircle hole of left surface are used for inserting axle, the right flank of the first frequency conversion motors 11 Big hole be used for put ball, upper side rectangular opening 24 be used for pass through firing device 122；3 times mouths of ox horn formula funnel and snail type shell The small sircle hole of the left surface of 2 ball mouth of body 22, the big hole of right flank and the segment opening center of circle of 111 bigger diameter end of service robot two are relative； Hemispherical ball mould 31 is provided with ox horn formula funnel 3, axle 32 is provided with along along the opening diameter of hemispherical ball mould 31, the warp beam of axle 32 Hold and be in rolling contact with the wall of ox horn formula funnel 3, there is the taper on angular wheel 33 and second axle of stepper motor 12 one end of axle 32 Gear 121 is engaged（As shown in Fig. 1,2,3,4,5,8,9,10,11,12）.Taken out to simulate walk about service, froehand-backhand of training mate person Ball, ball and the impact exceedingly difficult movements such as smash are adjusted, support shaft, lower end are provided with the upper end of support 4 there is provided three sheaves 41, Three sheaves 41 are connected to the lower end of support 4 through bearing and axle, and the frequency conversion motors 13 of first sheave 411 and the 3rd are coaxial simultaneously Rolled with second sheave 412 on a semicircular arc track 4120, the 3rd sheave 413 is in another article of semicircular arc track Rolled on 4130, the center of circle of two halves circular arc track 4120,4130 is concentric, have eccentric shaft on the 3rd sheave 413 through transmission Bar 42 is flexibly connected with the small axle 23 of the one side of 2 ball mouth of snail sandwich type element 22, there is adjustment hole on drive link 42, and drive link is used for adjusting The angle of section impact tennis（As shown in Figure 1, 2, 3）.

Operation principle and using method of the present invention：Set in impact tennis area twice concentric semicircles arc track 4120, 4130, semicircular arc track 4120,4130 is open towards tennis net, the equipment is placed on track, the first sheave 411 and second Individual sheave 412 is placed on large radius semicircular arc track 4120, and the 3rd sheave 413 is placed on minor radius semicircular arc track 4130 On, then start the equipment, three motors 1 are under the programme-control of setting, and the driving sheave 411 of the 3rd frequency conversion motors 13 exists Reciprocated on semicircular arc track 4120, also drive the equipment and reciprocated on two tracks；Second stepper motor 12 drive the hemispherical ball mould 31 in ox horn formula funnel 3 to rotate through angular wheel 121,33, and the ball mould 31 in ox horn formula funnel 3 will Tennis is put into the service robot 111 in snail sandwich type element 2 one by one, and service robot 111 is made in the driving of the first frequency conversion motors 11 Tennis is set to be moved to from the bigger diameter end of service robot 111 at the oval mouth of the miner diameter end of service robot 111 by spring with the centrifugal force of lower generation Formula right angled triangle controlling switch 1113 is controlled, when the miner diameter end of service robot 111 turns to the upper side of 2 ball mouth of snail sandwich type element 22 On rectangular opening 24 when, right angled triangle controlling switch 1113 is touched by the firing device 122 on second axle of stepper motor 12 On sliding shoe 11136, sliding shoe 11136 along rectangle guide groove 11137 slide be pressed into right angled triangle controlling switch In rectangular opening on 1113 right angles end, the big acute angle moment of the right angled triangle controlling switch 1113 stretched into service robot 111 becomes Greatly, stretch to outside service robot 111, tennis departs from service robot 111 and enters bulb 25 through the ball mouth 22 of snail sandwich type element 2, is going out ball The lower drive belt tooth turning rolls 2505 of gear 123 produced on rotation, second axle of stepper motor 12 of the helix of pipe 25 effect is rotated, Under the effect of large size roller, the isometrical roller of medium size and small size isometrical roller 250, go out bulb 25 and produce twisting, make impact to training The tennis direction of member with and change, the also adjustable high ball of adjustable bead, the cunning in right angled triangle controlling switch 1113 Motion block 11136 sets back under the spring effect of its one end, and the big acute angle 11132 of right angled triangle controlling switch 1113 diminishes It extend into again in service robot 111, control next ball, repeat said process, the equipment can continues training mate ball.Due to the 3rd groove There is eccentric shaft to be flexibly connected through drive link 42 with the small axle 23 of the one side of the ball mouth 22 of snail sandwich type element 2 on wheel 413, impact tennis Angle can continuously change, and driven to trainer's offer service, froehand-backhand, adjust the highly difficult training actions such as ball, impact smash, plus The twisting for going out bulb 25, output direction of ball is combined consecutive variations, can train athletes respond and flexible ability, The skill improvement of trainer is fast.If some action to trainer is trained, by the equipment be parked in some position on track, And the ball launch angle of the action is adjusted with drive link, the gear of second stepper motor shaft end is unloaded again, bulb 25 is conceded and twists The position needed to the training action.

Claims (4)

1. a kind of electrodynamic mechanical type tennis serve machine, it is characterised in that：It is by motor, snail sandwich type element, ox horn formula funnel, support And drive link is constituted, described motor has three, and First is that adjustable frequency motor is welded on snail sandwich type element, the variable-frequency electric The axle of machine is inserted perpendicularly into snail sandwich type element, shaft end is welded service robot；Second is that stepper motor is welded on snail sandwich type element There are angular wheel and firing device and gear on upside, the axle of the stepper motor；3rd is that adjustable frequency motor is welded, bearing connects It is connected on pedestal lower end；Snail sandwich type element is welded with ox horn formula funnel, and ox horn formula funnel and the first frequency conversion motors are through support shaft It is connected with support；Described pedestal lower end has three sheaves connected through bearing, first sheave and the 3rd frequency conversion motors Coaxial and rolled with second sheave on a track, the 3rd sheave is rolled on another article of track, the 3rd sheave On eccentric shaft be connected through drive link with the small axle of snail sandwich type element ball mouth one side, have adjustment hole on drive link；Two tracks For semicircular arc, with one heart, semicircular arc track opening is towards tennis net in the center of circle of two halves circular arc track；Described service robot is different Footpath tubulose, service robot bigger diameter end is segment shape, and the two segment opening centers of circle are relative, and service robot miner diameter end is oval opening, and ellipse is opened There is a spring right angled triangle controlling switch mouthful side, and the small acute ends of the controlling switch are welded on service wall, big sharp It is outer and with miniature roller and rectangular opening that angle end is stretched into service wall, service wall is stretched out at right angle end, interts in the rectangular opening One end band spring chock shape sliding shoe, a sliding shoe to slide in rectangle guide groove along along service robot；By hemisphere during service Tennis in ox horn formula funnel is put into service robot by shape ball mould one by one, driving effect of the service robot in the first frequency conversion motors Under, tennis is moved to from the bigger diameter end of service robot at the oval mouth of service robot miner diameter end, now by spring right angled triangle Controlling switch is controlled, when the miner diameter end of service robot turns to the rectangular opening on snail sandwich type element ball mouth upper side, sliding shoe Touched by firing device, and sliding shoe is just slided along rectangle guide groove, after be pressed on right angled triangle controlling switch right angle end Rectangular opening in, the right angle end moment of spring right angled triangle controlling switch is stretched to outside service robot, now tennis depart from service Device enters bulb through snail sandwich type element ball mouth.

2. a kind of electrodynamic mechanical type tennis serve machine according to claim 1, it is characterised in that：Described snail sandwich type element One section of cavity is horn at ball mouth, and ball mouth outer sheath a horn and goes out bulb, and going out on bulb inwall has spiral Line is simultaneously contacted through roller with one section of chamber activities at snail sandwich type element ball mouth.

3. a kind of electrodynamic mechanical type tennis serve machine according to claim 1, it is characterised in that：Described ox horn formula funnel Inside there is hemispherical ball mould, have axle along ball mould opening diameter, the axle is in rolling contact through bearing with ox horn formula hopper walls, and one end of axle has Angular wheel.

4. a kind of electrodynamic mechanical type tennis serve machine according to claim 2, it is characterised in that：Described roller has two Point, Part I have four isometrical rollers through wheel carrier it is equidistant be connected to out on bulb inwall, along go out bulb length direction roll And rolled in the Part I roller groove that can only be set on one section of chamber outer wall at snail sandwich type element ball mouth, Part I rolling Race has four, respectively should with four isometrical pairs of rollers of Part I；Part II has eight rollers, large size roller, two The individual isometrical roller of medium size and five isometrical rollers of trumpet, they respectively warp beam be both connected on a toothed rolling frame, wherein One large size roller, an isometrical roller of trumpet and two isometrical rollers of medium size are equidistantly positioned in a circle with tooth rolling frame Zhou Shang, large size roller and small size isometrical roller are diametrically symmetrical arranged in band tooth rolling frame, and two isometrical rollers of medium size are arranged on The both sides of large size roller, small size isometrical roller, the small size isometrical roller of four additional is equidistantly positioned with the another of tooth rolling frame On individual circumference, eight rollers of the isometrical roller of large size roller, medium size and small size isometrical roller are in snail sandwich type element ball mouth cavity Rolled on one section of outer wall in same groove.