CN104492061B - Shuttlecock playing service robot - Google Patents
Shuttlecock playing service robot Download PDFInfo
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- CN104492061B CN104492061B CN201410775072.3A CN201410775072A CN104492061B CN 104492061 B CN104492061 B CN 104492061B CN 201410775072 A CN201410775072 A CN 201410775072A CN 104492061 B CN104492061 B CN 104492061B
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Abstract
Shuttlecock playing service robot, it is made up of motor, snail sandwich type element, funnel, support frame, sheave and track, snail sandwich type element is connected through rivet with motor, funnel, support frame is connected through support shaft with motor, funnel, motor is connected through rivet with support frame, sheave is connected to support frame lower end through bearing, and sheave rolls on track.The simple and reasonable novelty of the present invention, it is easy to operate, shuttlecock playing training mate person's training mate can be substituted, and can improves training effect, practical, easily promotes.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of shuttlecock playing service robot.
Background technology
The motion of key ball is China's traditional health sports events, has the training device in terms of key ball less, has at present：It is a kind of
Robot key ball training device and picture semi arch Robot diameter service motor machine training device.A kind of robot key ball instruction
Practice equipment, it is simple to operate, training mate person can be simulated and move delivery of service, training effectiveness is improved, training effect can be improved, but to course of action
And the control of falling sphere point can't be realized, service can not firmly be adjusted, long service and difficult realization of send out near ball, although along parallel track
Can mobile and can regulation ball launch angle, but service can not cover trainer and entirely receive region, therefore trainer's on-site is more
Individual dead angle, receiving cannot a little be trained, and training difficulty is small, and Competitive effects are poor, and the high professional qualification lifting to trainer is restricted；Draw
Semi arch Robot diameter service motor machine training device, it is simple and reasonable, it is simple to operate, training mate person's movement can be simulated
Delivery of service, training for promotion efficiency and effect, but be difficult control to course of action and falling sphere point, service can not firmly be adjusted, long service
It is difficult to realize with nearly ball, although service and can regulation ball launch angle is rotated around staking out, also ball launch angle is moved by roller and risen and fallen
Small limitation, the ball sent can not cover the whole catching region of other side, therefore the multiple dead angles of trainer's on-site cannot receive
Training, training difficulty are small, it is impossible to the highly difficult technical ability of training for promotion person.
The content of the invention
The purpose of the present invention is：A kind of shuttlecock playing service robot is provided, its simple and reasonable novelty, manipulation is easy, low cost,
The defects of overcoming in the prior art, simultaneously has its advantage concurrently, and training effect is good, practical.
Realizing the technical solution used in the present invention is：The apparatus is by motor, snail sandwich type element, funnel, support frame, sheave
And track composition, snail sandwich type element are connected through rivet with motor, funnel, support frame is connected through support shaft with motor, funnel, motor
It is connected through rivet with support frame, sheave is connected through bearing with support frame lower end, and sheave rolls on track.
In order to give the different actions of service to provide power, the sizes of regulation service power, simulation training mate person walks about delivery of service, should
Motor 1 has three, and First is that adjustable frequency motor is connected through rivet with snail sandwich type element, and its axle is inserted perpendicularly into snail sandwich type element
Interior, shaft end service robot through bolt connection；Second be stepper motor through rivet interlacement on the upside of snail sandwich type element, on its axle
There are sector gear and firing device；3rd is that adjustable frequency motor is connected to support frame lower end through rivet, bearing.
It is interrupted delivery of service to simulate training mate person, the one side of snail sandwich type element ball mouth is provided with small axle, ball mouth
Left surface has a small sircle hole, right flank to have a big hole, upper side to have a rectangular opening and a supporting leg with holes, small sircle hole, big
Circular hole and the funnel Xia Kou centers of circle are relative, and it is that the relative lateral surface of fan-shaped mouth, lower mouth has branch that the funnel of setting, which is ox horn formula, its is suitable for reading
Axle is supportted, sets rotatable board plug type controller to be connected through supporting leg with holes on funnel, rotatable board plug type controller is flat by two pieces
The fan-shaped plate of row, a rotary shaft, an extension spring and a transmission ratch composition, one block of fan-shaped plate is in upside, one end and turns
One end of axle is fixedly connected, and another block of fan-shaped plate is fixedly connected in the other end of downside, one end and rotating shaft, the both ends warp of rotating shaft
Supporting leg movable supporting with holes, there are the horizontal conveyor being vertically a fixedly connected bar, horizontal conveyor bar one end and extension spring among rotating shaft
One end connection, the extension spring other end are connected with hopper walls, and the horizontal conveyor bar other end is flexibly connected through Minisize axial with transmission ratch, and two
Block sector plate is in axis of rotation by the change of rotation direction alternately through in the horizontal joint insertion funnel on hopper walls.
Walked about delivery of service to simulate training mate person, three sheaves are provided with support frame lower end through bearing and support frame
Connection, first sheave is coaxial with the 3rd frequency conversion motors and is rolled with second sheave on one article of track, the 3rd
Sheave rolls on another track, has eccentric shaft small through drive link and snail sandwich type element ball mouth one side on the 3rd sheave
Axis connection.
In order to which shuttlecock playing to be smoothly dealt into trainer place, the service robot of setting is reducing tubulose, and service robot bigger diameter end is ball
Shape is lacked, the two segment opening centers of circle are relative, and service robot miner diameter end has controlling switch, and the switch there are three pieces of rotatable pieces of arc through miniature
Axle is equidistantly positioned along service robot outer wall, and the rotatable piece one end of three pieces of arcs is inserted in service wall, the other end passes through outside wall
Circular arc drive link is flexibly connected, and circular arc drive link both ends are connected on service robot through hole on supporting leg with holes, and wherein one end covers
Spring, the other end and drawstring one end to connect, the other end of drawstring is connected through directive wheel with a sliding bar with spring.
The positive effect of the present invention is：Simple and reasonable novelty, can simulate training mate person and walk about delivery of service, and service is exerted oneself
It is adjustable, can long service, and can send out near ball, service, the multi-direction whole instruction served a ball, trainer can be covered of and can be pinpointed
Practice place and continuously adjustable service direction, control to course of action and falling sphere point can be realized, the ball sent is precisely strong, kills
Overstrain is strong, and training difficulty is high but can also reduce training difficulty, and being served a ball than similar equipment, motor-driven, flexible, quick, serving a ball automates
Degree height etc., can action each to trainer be trained, trainer can be improved and received reaction speed and adaptability to changes, can be met
Trainer's physical efficiency and the needs of combat training, exercise skill lifting is fast, also is available for teaching use and personal entertainment, practicality
By force.There is no any influence to surrounding environment and resident during use, be not only applicable public area, greenery patches, be also applied for resident
Cell activity is taken exercise, applied widely, to China's shuttlecock playing traditional culture is one and is creatively inherited and develop, in terms of making
Easily made compared with similar equipment and critical piece, making recruitment is few, energy consumption is low, material source is wide, price is low, easy popularization
And popularization.
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 service robot external structure schematic diagram on accompanying drawing 4；
Accompanying drawing 6 is the top view of accompanying drawing 5；
Accompanying drawing 7 be on accompanying drawing 6 C-C to service robot miner diameter end sectional drawing；
Accompanying drawing 8 is the B-B direction funnel sectional view on accompanying drawing 2；
Accompanying drawing 9 is rotatable board plug type controller external structure schematic diagram on accompanying drawing 8；
Accompanying drawing 10 is the top view of accompanying drawing 9；
Accompanying drawing 11 is the side view of accompanying drawing 9；
Accompanying drawing 12 is the system schematic of module controlled motor；
Accompanying drawing 13 is the firing device drawing on second step motor shaft；
Accompanying drawing 14 is the side view of accompanying drawing 13.
Embodiment
The present invention is as shown in accompanying drawing 1,2,3, and the machinery is by motor 1, snail sandwich type element 2, funnel 3, support frame 4, sheave 41
And track composition, snail sandwich type element 2 are connected through rivet with motor 1, funnel 3, support frame is through support shaft A110 and motor connection, leakage
Bucket lower end is connected through support shaft B33 with support frame 4, and motor 1 is connected through rivet with support frame, and sheave 41 is through bearing and support frame 4
Connection, sheave 41 roll on track 4120,4130.In order to provide power to different actions of serving a ball, adjust firmly big of serving a ball
Small, simulation training mate person walks about delivery of service, and the motor 1 has three, First be adjustable frequency motor 11 through rivet interlacement in snail
On sandwich type element 2, its axle is inserted perpendicularly into snail sandwich type element 2, and its shaft end service robot 111, service robot 111 through bolt connection
For reducing tubulose, bigger diameter end is segment shape, and the two segment opening centers of circle are relative, it is small it is scarce circle opening 1111 with First variable-frequency electric
The shaft end of machine 11 is fixedly connected, and the big circle opening 1112 that lacks is used for being put into shuttlecock playing, and the miner diameter end of service robot 111 has controlling switch 1113, should
Switch has the rotatable piece 11131 of three pieces of arcs to be equidistantly positioned through Minisize axial along service robot outer wall, three pieces of rotatable pieces of arc
11131 one end insertion service robot 111 wall is interior, the other end is flexibly connected outside wall and through circular arc drive link 11132, and circular arc passes
Lever both ends are connected on service robot through hole in legs B 11133 with holes, wherein one end covers spring 11134, the other end and drawstring
11135 one end are connected, and the drawstring other end is connected through directive wheel 11136 with a sliding bar 11137 with spring 111371, are slided
Bar has two legs Bs 11133 with holes to support, sliding bar both ends have semicircle 111372, two semicircle caps of cap small one and large one, it is big
Semicircular cap is for opening controlling switch 1113, smaller part rounded cap is used for preventing sliding bar from departing from legs B 11133 with holes；Second is
Stepper motor 12 has sector gear 121 and percussion through rivet interlacement on the upside of snail sandwich type element 2, the axle 120 of stepper motor 12
Device 122；3rd is that adjustable frequency motor 13 is connected to the lower end of support frame 4 through rivet and bearing, and this three motors 1 are by a control
Module 5 controls（As shown in Fig. 1,2,3,4,5,6,7,12,13,14）.It is interrupted delivery of service to simulate training mate person, in snail type
The one side of the ball mouth 22 of housing 2 is provided with small axle 23, for adjusting ball launch angle, and the left surface of ball mouth 22 has small sircle hole, used
To insert the axle of the first frequency conversion motors 11, the right flank of ball mouth 22 has big hole to be used for putting ball, the upside of ball mouth 22
There are a rectangular opening 24 and a supporting leg 25 with holes in face, is respectively intended to by firing device 122 and support transmission ratch 314；Leakage
3 lower ends of struggling against are connected through rivet with snail sandwich type element 2, the small sircle hole of 3 times mouths of funnel and the left surface of 2 ball mouth of snail sandwich type element 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, and funnel suitable for reading is fan-shaped mouth, and lower mouth is relatively outer
Side has that the support shaft B33 and Xia Kou centers of circle are relative, and support shaft B33 is used for and support frame 4 connects, and is set on funnel 3 rotatable
Board plug type controller 31 is through supporting leg A32 connections with holes, and rotatable board plug type controller is by two blocks of parallel fan plates 311, one
312, extension springs 313 of rotary shaft and a transmission ratch 314 form, and one block of fan-shaped plate 311 is in upside, one end and rotary shaft
312 one end is fixedly connected, and another plate 311 is fixedly connected in downside, one end with the other end of rotary shaft 312, rotary shaft
There are supporting leg A32 movable supportings with holes at 312 both ends, there is the horizontal conveyor being vertically a fixedly connected bar 3121 among rotary shaft 312,
The one end of drive link 3121 is connected with the one end of extension spring 313, and the extension spring other end is connected with the wall of funnel 3, the other end of horizontal conveyor bar 3121
It is flexibly connected through Minisize axial with transmission ratch 314, two blocks of fan-shaped plates 311 are when rotary shaft 312 rotates through horizontal on the wall of funnel 3
Seam is interleaved alternately with funnel 3 by the change of rotation direction, and transmission ratch 314 passes through the supporting leg with holes on snail type shell upper side
Sector gear 121 on 25 on hole and second axle of stepper motor 12 engages（As shown in Fig. 1,2,3,4,5,8,9,10,11）.For
Simulation training mate person walks about delivery of service, is provided with three sheaves 41 in the lower end of support frame 4, three sheaves 41 are through bearing and axle
Be connected to the lower end of support frame 4, the frequency conversion motors 13 of first sheave 411 and the 3rd it is coaxial and with second sheave 412 one
Rolled on bar semicircular arc track 4120, the 3rd sheave 413 rolls on another article of semicircular arc track 4130, two halves circular arc
The center of circle of shape track 4120,4130 is concentric, has eccentric shaft 4131 through drive link 42 and snail sandwich type element on the 3rd sheave 413
The small axle 23 of the one side of 2 ball mouth 22 is flexibly connected, and drive link 42 can be used to continuously adjust ball launch angle, have regulation on drive link 42
Hole, the amplitude of ball launch angle can be adjusted（As shown in Figure 1, 2, 3）.
Operation principle and using method of the present invention：In shuttlecock playing place, twice concentric semicircles arc track 4120,4130 is set,
Semicircular arc track 4120,4130 is open towards net, the machinery is placed on track, the first sheave 411 and second sheave
412 are placed on large radius semicircular arc track 4120, and the 3rd sheave 413 is placed on minor radius semicircular arc track 4130, so
After start the machinery, three motors 1 are under the programme-control that control module 5 is set, the driving sheave of the 3rd frequency conversion motors 13
411 reciprocate on semicircular arc track 4120,4130, and drive link 42 continuously adjusts ball launch angle；Second stepping electricity
Machine 12 engages driving horizontal conveyor bar 3121 through sector gear 121, with the transmission ratch 314 on rotatable board plug type controller 31
So as to which the fan-shaped plate 311 for promoting rotary shaft 312 to rotate, driving rotary shaft both ends to connect rotates, inserts the fan-shaped plate 311 in downside
Enter in funnel 3 and the removal funnel 3 of upside sector plate 311, the shuttlecock playing in funnel is fallen between two fan-shaped plates 311, works as sector
Gear 121 turn over fan-shaped arc length after, sector gear 121 and the transmission engagement pause of ratch 314, horizontal conveyor bar 3121 is in extension spring
313 effects are lower drive horizontal conveyor bar 3121 and rotary shaft 312 rotate, so that upside fan plate 311 insert in funnel, under
Side sector plate 311 removes funnel 3, and the shuttlecock playing being clipped between two fan-shaped plates 311 falls, falls into snail type shell through mouth under funnel
In service robot 111 in body 2, the caused centrifugal force under the driving effect of the first frequency conversion motors 11 of service robot 111 makes shuttlecock
The miner diameter end that ball is moved to service robot 111 from the bigger diameter end of service robot 111 is controlled by controlling switch 1113, when the path of service robot 111
When end turns to the rectangular opening 24 of the upside of 2 ball mouth of snail sandwich type element 22, by the firing device 122 on second axle of stepper motor 12
The semicircle cap 111372 of the end of sliding bar 11137 in controlling switch 1113 is touched, sliding bar 11137 is slided and pulled
The drive circular arc of rope 11135 drive link 11132 is rotated so as to also drive the rotatable rotating opening of piece 11131 control of three pieces of arcs to open
1113 are closed, shuttlecock playing departs from service robot 111 and flies to trainer place through the ball mouth 22 of snail sandwich type element 2, and controlling switch 1113 is in circle
Set back under one end spring 11134 of arc drive link 11132 and the effect of one end spring 111371 of sliding bar 11137, under control
One shuttlecock playing.If some action is trained to trainer, the machinery can be set in some position on track 4120,4130
Put, then adjusted with the adjustment apertures of drive link 42, allow the program that module 5 is set to control the first frequency conversion motors 11 and the
Two stepper motors 12 just control course of action and falling sphere point.
Claims (3)
1. shuttlecock playing service robot, it is characterised in that：It is made up of motor, snail sandwich type element, funnel, support frame, sheave and track, institute
The motor stated has three, First be adjustable frequency motor through rivet interlacement on snail sandwich type element, the axle of the adjustable frequency motor hangs down
Straight cutting enters in snail sandwich type element, shaft end service robot through bolt connection；Second for stepper motor through rivet interlacement in snail type
On the upside of housing, there are sector gear and firing device on the axle of the stepper motor；3rd is that adjustable frequency motor connects through rivet, bearing
In support frame lower end；Snail sandwich type element is connected through rivet with funnel；There are support shaft, funnel and First in described support frame upper end
Adjustable frequency motor is connected through support shaft with support frame, and there are three sheaves connected through bearing support frame lower end, first sheave and
3rd frequency conversion motors are coaxial and rolled with second sheave on one article of track, and the 3rd sheave is on another article of track
Roll, have small axis connection of the eccentric shaft through drive link and snail sandwich type element ball mouth one side on the 3rd sheave, have on drive link
Adjustment hole, two tracks are semicircular arc, and the center of circle of two halves circular arc track is concentric, and semicircular arc track opening is towards net；
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, and service robot miner diameter end has
Controlling switch, the switch have three pieces of rotatable pieces of arc to be equidistantly positioned through Minisize axial along service robot outer wall, and three pieces of arcs can turn
In moving plate one end insertion service wall, the other end is flexibly connected outside wall through circular arc drive link, circular arc drive link both ends warp
Hole is connected on service robot on supporting leg with holes, wherein one end covers spring, and the other end is connected with drawstring one end, drawstring other end warp
Directive wheel is connected with a sliding bar with spring；Shuttlecock playing is fallen into service robot through mouth under funnel during service, and service robot is first
Under the driving effect of frequency conversion motors, shuttlecock playing is set to be moved to the miner diameter end of service robot from service robot bigger diameter end, now shuttlecock playing quilt
Controlling switch controls, and when service robot miner diameter end turns to the rectangular opening on the upside of snail sandwich type element ball mouth, slides boom end
Semicircle cap is touched by firing device, and sliding bar starts to slide and pulls drawstring to drive circular arc drive rod rotation, so as to also drive
The rotatable piece of three pieces of arcs rotates, and now controlling switch is opened, and shuttlecock playing departs from service robot and flown to through snail sandwich type element ball mouth
Trainer place.
2. shuttlecock playing service robot according to claim 1, it is characterised in that：The one side of described snail sandwich type element ball mouth has
Small axle, the upper side of ball mouth have rectangular opening and supporting leg with holes.
3. shuttlecock playing service robot according to claim 1, it is characterised in that：Described funnel is ox horn formula, suitable for reading for sector
Mouthful, rotatable board plug type controller and supporting leg with holes are set thereon, and rotatable board plug type controller is through two supporting leg branch with holes
Support is connected on funnel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410775072.3A CN104492061B (en) | 2014-12-16 | 2014-12-16 | Shuttlecock playing service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410775072.3A CN104492061B (en) | 2014-12-16 | 2014-12-16 | Shuttlecock playing service robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104492061A CN104492061A (en) | 2015-04-08 |
| CN104492061B true CN104492061B (en) | 2017-12-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410775072.3A Active CN104492061B (en) | 2014-12-16 | 2014-12-16 | Shuttlecock playing service robot |
Country Status (1)
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| CN (1) | CN104492061B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106310634B (en) * | 2016-09-09 | 2018-03-27 | 徐州工业职业技术学院 | A kind of shuttlecock playing automatic pitching machine |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5813391A (en) * | 1995-02-17 | 1998-09-29 | Johnson; Albert | Method and apparatus for pitching and lobbing balls |
| CN2734278Y (en) * | 2004-10-21 | 2005-10-19 | 林清云 | Table tennis service machine |
| CN100394998C (en) * | 2006-06-10 | 2008-06-18 | 合肥工业大学 | Equipment for volleyballer training use |
| CN201394334Y (en) * | 2009-05-07 | 2010-02-03 | 济南大学 | Training tennis ball serving machine |
| CN103752001B (en) * | 2014-01-28 | 2015-10-28 | 商丘师范学院 | A kind of robot percussion shuttlecock playing training device |
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2014
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| CN104492061A (en) | 2015-04-08 |
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Inventor after: Liu Xiaohong Inventor before: Zhao Lianbao Inventor before: Wu Jun Inventor before: Sun Xiaowei Inventor before: Liu Ming Inventor before: Jia Yulong |
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Effective date of registration: 20170829 Address after: 330114, Jiangxi Province, Nanchang, Xinjian County Town, Xia Xia Village, shop village, No. 9 Applicant after: Liu Xiaohong Address before: 476000, No. 1, unit 1, Hutong Yiyang, Shangqiu beam garden area, Henan, 4 Applicant before: Sun Zhengyang |
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Effective date of registration: 20170920 Address after: 401300 Chongqing Banan NANPENG Business Incubator (Nan Peng Yuanyang village 13) Applicant after: Chongqing Chi Chi Machinery Co., Ltd. Address before: 330114, Jiangxi Province, Nanchang, Xinjian County Town, Xia Xia Village, shop village, No. 9 Applicant before: Liu Xiaohong |
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Effective date of registration: 20180125 Address after: 401320 Banan District, Banan District, Chongqing, No. 8-29, Yu Nan Road, No. 8-29 Patentee after: Chongqing Boshi Intellectual Property Service Co., Ltd. Address before: 401300 Chongqing Banan NANPENG Business Incubator (Nan Peng Yuanyang village 13) Patentee before: Chongqing Chi Chi Machinery Co., Ltd. |
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Effective date of registration: 20201126 Address after: No.1 Yong'an Avenue, Panpu eco industrial park, Meicheng Town, Qianshan City, Anhui Province Patentee after: ANHUI YOOAN RAINGEAR Co.,Ltd. Address before: 401320 No. 249 Yunan Avenue, Banan District, Chongqing, 8-29 Patentee before: Chongqing Boshi Intellectual Property Service Co.,Ltd. |
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