CN106110623A - Multi-angle badminton service robot and service method - Google Patents
Multi-angle badminton service robot and service method Download PDFInfo
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- CN106110623A CN106110623A CN201610687362.1A CN201610687362A CN106110623A CN 106110623 A CN106110623 A CN 106110623A CN 201610687362 A CN201610687362 A CN 201610687362A CN 106110623 A CN106110623 A CN 106110623A
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- ball
- grab
- cylinder
- motor
- pushing
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
- A63B67/18—Badminton or similar games with feathered missiles
Abstract
The invention discloses a kind of multi-angle badminton service robot, multi-angle badminton service robot includes base, hydraulic lifting support bar, gripper shoe, injection apparatus, rocking equipment, grab ball device, storage ball device, pushing device, self-locking universal wheel is installed in the bottom of described base, hydraulic lifting support bar is installed on base, the top of described hydraulic lifting support bar connects gripper shoe, injection apparatus for being launched by shuttlecock is installed in described gripper shoe, for adjusting the rocking equipment launching angle, hold the storage ball device of shuttlecock, for shuttlecock from storage ball device catch injection apparatus launch position grab ball device, described storage ball device is provided with pushing device shuttlecock being shifted grab onto ball position, rocking equipment connects injection apparatus.Present invention achieves multi-angle service, serve a ball without dead angle, frequency is fast, angle is many in service, can many people train simultaneously, and each parts can modularization assembling.
Description
Technical field
The present invention relates to a kind of multi-angle badminton service robot, belong to sports apparatus field.
Background technology
Along with the raising of living standard, people increasingly pay attention to the quality of life.Motion is as a kind of green according to investigations
Color is consumed in people's current consumption the shared ratio that obtains in the trend persistently risen.Along with closing on of the 2008 Beijing Olympic Games,
Nationwide fitness programs upsurge will grow in intensity, and the market demand of body-building apparatus also can constantly expand.
It is a motion the most universal in China's badminton, deeper is liked by teen-age.Shuttlecock service at present
The kind of machine is the most fewer, it should have the biggest development space.
China's already present service robot kind has three kinds at present: the first is to send with special the flicking of motor whipping, this
A kind of as our batting principle, but limited angle, and the course of action that can imitate is few, is generally used for choosing of shuttlecock factory
Ball speed, chooses the step of flight；The second impact bulb sends；The third is current national team mechanical arm folder bulb
Throwing out at a high speed, the while that machine being the heaviest, volume is the biggest.Need the support support of three meters high, route of killing, valency can be imitated out
Lattice are the most somewhat expensive；4th kind is to launch with high pressure gas blowout shuttlecock.These current several badminton service robots, the second, the 3rd
Plant, the 4th kind of badminton service robot can only regulate course of action by regulation serve speed and service mechanical force or air pressure, does not do
Method realizes serving a ball without the multi-angle at dead angle, and altitude mixture control is inconvenient, mobile inconvenience.
Summary of the invention
Above-mentioned condition based on prior art, analyze and compare badminton service robot service principle on the basis of to feather
The characteristics of motion such as the service direction of ball service robot and serve speed are analyzed, and the invention provides a kind of multi-angle shuttlecock and send out
Ball machine, and use new shuttlecock service method, it is achieved that multi-angle is served a ball without dead angle.
The present invention is realized by following technical proposals.A kind of multi-angle badminton service robot, multi-angle shuttlecock is served a ball
Machine includes base, hydraulic lifting support bar, gripper shoe, injection apparatus, rocking equipment, grabs ball device, storage ball device, dress of pushing the ball
Putting, self-locking universal wheel is installed in the bottom of described base, and base is installed hydraulic lifting support bar, described hydraulic lifting support bar
Top connects gripper shoe, described gripper shoe is installed the injection apparatus for being launched by shuttlecock, is used for adjusting the angle of departure
The rocking equipment of degree, hold the storage ball device of shuttlecock, for shuttlecock is caught the transmitting position of injection apparatus from storage ball device
That puts grabs ball device, and described storage ball device is provided with pushing device shuttlecock being shifted grab onto ball position, and rocking equipment connects spray
Injection device.
More particularly, described injection apparatus includes spray boom, and the front end of spray boom is provided with shower nozzle, sets jet and lead in described spray boom
Road, the middle part of described spray boom is flexibly connected with spray boom bearing, and described spray boom is provided with air jet pipe interface, and air jet pipe interface passes through trachea
Connecting air compressor, and install electromagnetic impulse valve on this trachea, air compressor is fixed on base, and spray boom bearing is fixed
On the supporting plate.
More particularly, the profile of shower nozzle is the taper consistent with shuttlecock empennage opening angle, and nozzle surface sets
Jagged；The nozzle of described shower nozzle is in the arc as badminton ball torr radius.
More particularly, described rocking equipment is made up of rotating disk, swing motor, swing motor mounting seat, and swing motor is pacified
Dress seat is fixing, and swing motor is arranged in swing motor mounting seat on the supporting plate, and the rotating shaft of swing motor connects rotating disk, described
The outer of rotating disk is connected with the spray boom tail end of spray boom.Spray boom tail end is connected to 45 degree of rotating disk, 135 degree, 225 degree or 315 degree of positions
On the outer put.
More particularly, described rocking equipment is toggle, is made up of crank, crank bearing, connecting rod, cylinder,
One end connecting crank bearing of crank, the other end of crank connects spray boom tail end and one end of connecting rod, and the other end of connecting rod connects
Cylinder, drives spray boom to wave by cylinder moving.
More particularly, described storage ball device includes ball-storing box, and the bottom of ball-storing box is provided with the outlet of ball cylinder, its of ball-storing box
In one piece of wallboard be swash plate, the outlet of ball cylinder is provided with the second push-pull valve, on the upside of the outlet of ball cylinder, is provided with the first push-pull valve, the first plate
Valve and the second push-pull valve can accommodate a ball cylinder, the first push-pull valve and the second push-pull valve and connect respective driving motor respectively or drive
Dynamic air cylinder, described ball-storing box is provided with ball mouth；
More particularly, described pushing device includes the pushing device base being arranged on outside ball-storing box wallboard, described in push away
Offering, on ball device base, slide rail of pushing the ball, set screw mandrel in slide rail of pushing the ball, screw mandrel connection is arranged on pushing the ball on pushing device base
Motor, described screw mandrel is installed and pushes the ball slide block, slide block of pushing the ball is fixed ball pushing rod, and described ball pushing rod stretches into the first push-pull valve and the
In ball cylinder between two push-pull valves, ball pushing rod is pushed into shuttlecock with slide block movement of pushing the ball the ball mouth of ball-storing box；Push the ball slide rail
Before and after be respectively arranged at two ends with slide block front limit switch of pushing the ball, limit switch after slide block of pushing the ball, slide block front limit of pushing the ball switch and
Limit switch after slide block of pushing the ball is electrically connected with motor of pushing the ball；
More particularly, ball grasping device includes central-shaft motor seat, central-shaft motor, rotating middle shaft, grabs ball armed lever, grabs ball
Cylinder, grabbing ball ejecting rod of cylinder, grab ball fine motion motor, grab ball microswitch, grab ball cover, described central-shaft motor seat is arranged on gripper shoe
On, central-shaft motor is arranged on central-shaft motor seat, central-shaft motor seat connect rotating middle shaft, the top of rotating middle shaft with grab ball armed lever
It is fixed together, drives rotating middle shaft by central-shaft motor, and make to grab ball armed lever and rotate around rotating middle shaft, rotate grabbing ball armed lever
Arrange to the position grabbed at ball position and grab ball position-sensing switch, turn to spray the position at position and arrange grabbing ball armed lever and put ball location and open
Close；Installing on ball grasping armed lever and grab ball cylinder, ball fine motion motor is grabbed in the ball ejecting rod of cylinder connection of grabbing grabbing ball cylinder, grabs ball fine motion
Motor connects grabs ball cover, and ball grasping fine motion motor is provided with grabs ball microswitch, grabs ball microswitch and is positioned at the plumage grabbing ball cover
Ball top ball torr contact position.
Present invention also offers a kind of multi-angle shuttlecock service method, it is characterised in that based on aforesaid multi-angle plumage
Ball top service robot, electromagnetic impulse valve, air compressor, swing motor or cylinder, the first push-pull valve and the driving of the second push-pull valve
Motor or drive cylinder, motor of pushing the ball, central-shaft motor, grab ball cylinder, grab ball fine motion motor, grab ball position-sensing switch, put ball location
Switch connects controller, and service step is as follows:
Step one, install ball cylinder, and control motor work of pushing the ball, make ball pushing rod move, shuttlecock is pushed into ball mouth；
Step 2, control central-shaft motor work, when grab ball armed lever touch grab ball position-sensing switch time, central-shaft motor stop turn
Dynamic, control to grab ball fate and move, make to grab ball fine motion motor and grab ball cover near shuttlecock, when grabbing ball microswitch touching badminton ball
During torr, grab the driving of ball fine motion motor and grab ball cover contraction, catch shuttlecock, then grab ball cylinder and reset, catch shuttlecock to detach
Ball mouth, then central-shaft motor drives and grabs the rotation of ball armed lever, and when grabbing the touching of ball armed lever and putting ball position-sensing switch, central-shaft motor stops rotation
Turn, and make to grab ball cylinder moving, make to grab ball fine motion motor with the shuttlecock grabbing ball cover and catch to the shower nozzle of described injection apparatus
Motion, after putting in place, badminton ball torr can extrude grabs ball microswitch, now, grabs ball fine motion reset motor, makes to grab ball cover and unclamps multiple
Position, after reset, that grabs ball cylinder grabs ball ejecting rod of cylinder retracted for clearance, and shuttlecock is just placed on shower nozzle, then axis
Motor movement, makes to grab ball armed lever to grabbing the motion of ball position；
Step 3, controls rocking equipment motion, thus changes the angle of shower nozzle, start electromagnetic impulse valve, high pressure gas afterwards
Body quickly ejects shuttlecock, completes service, after rocking equipment starts, is randomly provided delay time, and electromagnetic impulse valve prolongs
Shi Qidong, the length of delay time is the time in 0 to rocking equipment, one cycle of motion, uses random function to set time delay at random
The length of time.
The technique effect of the present invention: achieve multi-angle service, service without dead angle, injection apparatus, rocking equipment, is grabbed ball and is filled
Put, store up ball device, the isostructural good stability of pushing device, be accurately controlled, it is simple to realize Automated condtrol.Service frequency
Hurry up, angle many, many people can train simultaneously, and multiple injection apparatus can be set, each parts can modularization assembling, it is simple to extension,
As arranged the injection apparatus towards both sides, can set up and block position, to two edge emitting shuttlecocks.
Accompanying drawing explanation
Fig. 1 is the general illustration of multi-angle badminton service robot of the present invention.
Fig. 2 is injection apparatus and rocking equipment schematic diagram.
Fig. 3 is the initial attachment point schematic diagram of jet rod and rotating disk.
Fig. 4 is toggle schematic diagram.
Fig. 5 is pushing device schematic diagram.
Fig. 6 is to grab ball device schematic diagram.
In figure: 1. base, 2. hydraulic lifting support bar, 3. gripper shoe, 4. injection apparatus, 5. rocking equipment, 6. grab ball dress
Put, 7. storage ball device, 8. pushing device, 9. ball cylinder retracting device, 41. spray booms, 42. shower nozzles, 43. nozzles, 44. spray boom bearings,
45. jet channels, 46. air jet pipe interfaces, 47. spray boom tail ends, 51. rotating disks, 52. swing motors, 53. swing motor mounting seats,
54. cranks, 55. crank bearings, 56. connecting rods, 57. cylinders, 61. central-shaft motor seats, 62. central-shaft motors, 63. rotating middle shafts, 64.
Grab ball armed lever, 65. grab ball cylinder, 66. grab ball ejecting rod of cylinder, 67. grab ball fine motion motor, 68. grab ball microswitch, 69. grab ball
Set, 71. first push-pull valves, 72. second push-pull valves, 73. ball-storing box wallboards, 74. ball cylinders, 75. bulb separation back-up rings, 76. ball mouths,
81. ball pushing rods, 82. push the ball slide block front limit switch, 83. push the ball limit switch after slide block, 84. pushing device bases, 85. push the ball
Slide block, 86. push the ball slide rail, 87. screw mandrels, 88. push the ball motor.
Detailed description of the invention
It is further elucidated with the present invention below in conjunction with the accompanying drawings.
With reference to Fig. 1, multi-angle badminton service robot includes base 1, hydraulic lifting support bar 2, gripper shoe 3, injection apparatus
4, rocking equipment 5, grab ball device 6, storage ball device 7, pushing device 8, ball cylinder retracting device 9, the bottom of described base 1 install from
Lock universal wheel, base 1 is installed hydraulic lifting support bar 2, and the top of described hydraulic lifting support bar 2 connects gripper shoe 3, described
Injection apparatus 4 for being launched by shuttlecock is installed in gripper shoe 3, is used for adjusting the rocking equipment 5 of transmitting angle, holding
Shuttlecock storage ball device 7, for shuttlecock from storage ball device 7 catch injection apparatus 4 launch position grab ball device 6,
Described storage ball device 7 is provided with the pushing device 8 shuttlecock being shifted grab onto ball position, and the ball cylinder outlet of storage ball device 7 is positioned at props up
The lower section of fagging 3, arranges ball cylinder retracting device 9 below the outlet of ball cylinder.
With reference to Fig. 2, Fig. 3, described injection apparatus 4 includes that spray boom 41, the front end of spray boom 41 are provided with shower nozzle 42, outside shower nozzle 42
Shape is the taper consistent with shuttlecock empennage opening angle, and shower nozzle 42 surface is provided with burr so that shuttlecock is placed on shower nozzle
After on 42, shuttlecock empennage can be tangled by burr, and make shuttlecock not fall out, the nozzle 43 of described shower nozzle 42 in
The arc that badminton ball torr radius is the same, it is ensured that nozzle 43 contacts well with badminton ball torr, it is ensured that during injection, gases at high pressure rush
Power useful effect is in ball torr.Setting jet channel 45 in described spray boom 41, the middle part of described spray boom 41 is movable with spray boom bearing 44
Connecting, as hinged, it is ensured that spray boom 41 can rotate around junction point, described spray boom 41 is provided with air jet pipe interface 46, air jet pipe interface
46 connect air compressor by trachea, and install electromagnetic impulse valve on this trachea, control high pressure by electromagnetic impulse valve empty
Gas jet is served a ball, and air compressor can be fixed on base 1.Spray boom bearing 44 is fixed in gripper shoe 3.
With reference to Fig. 3, described rocking equipment 5 is made up of rotating disk 51, swing motor 52, swing motor mounting seat 53, waves electricity
Machine mounting seat 53 is fixed in gripper shoe 3, and swing motor 52 is arranged in swing motor mounting seat 53, the rotating shaft of swing motor 52
Connecting rotating disk 51, the outer of described rotating disk 51 is connected with the spray boom tail end 47 of spray boom 41.Rotating disk 51 rotates and drives spray boom 41 around propping up
Point rotates, it is achieved thereby that multi-angle injection.For preferably resetting and multi-angle injection, spray boom tail end 47 and the connection of rotating disk 51
During, when spray boom 41 is horizontal, spray boom tail end 47 is connected to 45 degree of rotating disk 51,135 degree, 225 degree or 315 degree
On the outer of position, so can realize horizontal forward injection, front, rear, left and right can be realized again and spray up and down.Shaken by control
The rotation of pendulum motor 52, starts electromagnetic impulse valve service after turning to certain angle, can realize multi-angle service.
With reference to Fig. 4, described rocking equipment 5 can also be toggle, by crank 54, crank bearing 55, connecting rod 56,
Cylinder 57 is constituted, one end connecting crank bearing 55 of crank 54, and the other end of crank 54 connects spray boom tail end 47 and connecting rod 56
One end, the other end of connecting rod 56 connects cylinder 57, drives spray boom 41 to wave by cylinder 57 motion.Cylinder 57 and crank bearing 55
It is arranged in gripper shoe 3, height as required, can cushion block or support.
With reference to Fig. 1, described storage ball device 7 includes ball-storing box, and the bottom of ball-storing box is provided with the outlet of ball cylinder, and ball-storing box is wherein
One piece of wallboard is swash plate so that ball cylinder can fall to the outlet of ball cylinder naturally, is provided with the second push-pull valve 72, ball cylinder in the outlet of ball cylinder
Being provided with the first push-pull valve 71 on the upside of outlet, the first push-pull valve 71 and the second push-pull valve 72 can accommodate a ball cylinder 74, and ball cylinder exports
Leading to the ball cylinder retracting device 9 below gripper shoe 3, the first push-pull valve 71 and the second push-pull valve 72 connect respective driving electricity respectively
Machine or driving cylinder.With reference to Fig. 5, described ball-storing box is provided with ball mouth 76, and the front end of ball cylinder 74 is provided with bulb separation back-up ring 75.
With reference to Fig. 5, described pushing device 8 includes the pushing device base 84 being arranged on outside ball-storing box wallboard 73, described
Offering slide rail 86 of pushing the ball on pushing device base 84, set screw mandrel 87 in slide rail 86 of pushing the ball, screw mandrel 87 connection is arranged on pushing device
Motor 88 of pushing the ball on base 84, described screw mandrel 87 is installed slide block 86 of pushing the ball, slide block 86 of pushing the ball is fixed ball pushing rod 81, described
Ball pushing rod 81 stretches in the ball cylinder 74 between the first push-pull valve 71 and the second push-pull valve 72, and ball pushing rod 81 moves with slide block 86 of pushing the ball
Shuttlecock is pushed into the ball mouth 75 of ball-storing box.Push the ball and be respectively arranged at two ends with slide block front limit switch of pushing the ball before and after slide rail 86
82, pushing the ball limit switch 83 after slide block, after slide block front limit of pushing the ball switch 82 and slide block of pushing the ball, limit switch 83 is electrically connected with and pushes away
Ball motor 88, when push the ball slide block 86 touching push the ball slide block front limit switch 82 time, show the shuttlecock battery has fired in ball cylinder 74,
The most first make ball pushing rod 81 retraction reset, slide block 86 of pushing the ball touching push the ball limit switch 83 after slide block time reset complete, close first
Push-pull valve 71, then opens the second push-pull valve 72, makes sky ball cylinder fall in ball cylinder retracting device 9, is then shut off the second push-pull valve
72, open the first push-pull valve 71, have a ball cylinder 74 of ball to fall into position of pushing the ball.The present invention use guiding rail mechanism push the ball,
Ball pushing rod 81 progressive position is accurately controlled, good stability, failure rate is low.
With reference to Fig. 6, ball grasping device 6 includes central-shaft motor seat 61, central-shaft motor 62, rotating middle shaft 63, grabs ball armed lever
64, grab ball cylinder 65, grab ball ejecting rod of cylinder 66, grab ball fine motion motor 67, grab ball microswitch 68, grab ball cover 69, described axis
Motor cabinet 61 is arranged in gripper shoe 3, and central-shaft motor 62 is arranged on central-shaft motor seat 61, and central-shaft motor seat 61 connects in rotation
Axle 63, the top of rotating middle shaft 63 is fixed together with grabbing ball armed lever 64, drives rotating middle shaft 63 by central-shaft motor 62, and make
Grab ball armed lever 64 to rotate around rotating middle shaft 63, turn to grab the position at ball position and arrange grabbing ball armed lever 64 and grab ball position-sensing switch,
Turn to spray the position at position and arrange grabbing ball armed lever 64 and put ball position-sensing switch.Install on ball grasping armed lever 64 and grab ball cylinder
65, ball fine motion motor 67 is grabbed in ball ejecting rod of cylinder 66 connection of grabbing grabbing ball cylinder 65, grabs the connection of ball fine motion motor 67 and grabs ball cover 69, institute
State and grab ball fine motion motor 67 and be provided with and grab ball microswitch 68, grab ball microswitch 68 and be positioned at and grab the badminton ball torr of ball cover 69 and connect
Touch position.When grabbing ball armed lever 64 and rotating to grab ball position, when i.e. grabbing ball cover 69 just to ball mouth 76, i.e. grab ball armed lever 64 and touch
To when grabbing ball position-sensing switch, central-shaft motor 62 stops operating, and grabs ball cylinder 65 and moves, and makes grab ball fine motion motor 67 and grab ball cover 69
Near shuttlecock, when grabbing ball microswitch 68 and touching badminton ball torr, grab ball fine motion motor 67 and drive and grab ball cover 69 and shrink, grab
Living shuttlecock, then grab ball cylinder 65 and reset, catch shuttlecock to depart from ball mouth 76, then central-shaft motor 62 drives and grabs ball armed lever
64 rotate, and when grabbing ball armed lever 64 touching and putting ball position-sensing switch, central-shaft motor 62 stops the rotation, and makes to grab ball cylinder 65 and move,
The shuttlecock grabbed ball fine motion motor 67 with grab ball cover 69 and catch is made to move to the shower nozzle 42 of described injection apparatus 4, after putting in place, plumage
Ball top ball torr can extrude grabs ball microswitch 68, now, grabs ball fine motion motor 67 and resets, makes to grab ball cover 69 and unclamp reset, resets
After, that grabs ball cylinder 65 grabs ball ejecting rod of cylinder 66 retracted for clearance, and then central-shaft motor 62 moves, and makes to grab ball armed lever 64 to grabbing
Moving in ball position, and starts rocking equipment 5 and the electromagnetic impulse valve of injection apparatus 4, and shuttlecock is quickly ejected.Rocking equipment
After startup, being randomly provided delay time, electromagnetic impulse valve delayed startup, the length of delay time is 0 to rocking equipment motion one
The time in individual cycle, random function is used to set the length of delay time at random.
In the present invention, electromagnetic impulse valve, air compressor, swing motor 52 or cylinder the 57, first push-pull valve 71 and second
The driving motor of push-pull valve 72 or drive cylinder, motor 88 of pushing the ball, central-shaft motor 62, grab ball cylinder 65, grab ball fine motion motor 67,
Grab ball position-sensing switch, put ball position-sensing switch connection PLC, set according to framing signal and time delay by PLC
Put each parts cooperating of driving.
Claims (10)
1. a multi-angle badminton service robot, including base (1), hydraulic lifting support bar (2), gripper shoe (3), injection apparatus
(4), rocking equipment (5), grab ball device (6), storage ball device (7), pushing device (8), it is characterised in that: described base (1)
Self-locking universal wheel is installed in bottom, and base (1) is upper installs hydraulic lifting support bar (2), the top of described hydraulic lifting support bar (2)
Connection gripper shoe (3), described gripper shoe (3) above installs the injection apparatus (4) for being launched by shuttlecock, for adjustment
The rocking equipment (5) of firing angle degree, hold the storage ball device (7) of shuttlecock, for shuttlecock is caught injection from storing up ball device (7)
Device (4) launch position grab ball device (6), described storage ball device (7) is provided with to be shifted shuttlecock to grab pushing away of ball position onto
Ball device (8), rocking equipment (5) connects injection apparatus (4).
2. want the multi-angle badminton service robot described in 1 according to right, it is characterised in that: described injection apparatus (4) includes spray boom
(41), the front end of spray boom (41) is provided with shower nozzle (42), sets jet channel (45), in described spray boom (41) in described spray boom (41)
Portion is flexibly connected with spray boom bearing (44), and described spray boom (41) is provided with air jet pipe interface (46), and air jet pipe interface (46) passes through gas
Pipe connects air compressor, and installs electromagnetic impulse valve on this trachea, and air compressor is fixed on base, spray boom bearing
(44) fix on the supporting plate.
3. want the multi-angle badminton service robot described in 2 according to right, it is characterised in that: the profile of shower nozzle (42) is and shuttlecock
The taper that empennage opening angle is consistent, and shower nozzle (42) surface is provided with burr.
4. want the multi-angle badminton service robot described in 2 according to right, it is characterised in that: the nozzle (43) of described shower nozzle (42) in
With the arc as badminton ball torr radius.
5. want the multi-angle badminton service robot described in 2 according to right, it is characterised in that: described rocking equipment (5) is by rotating disk
(51), swing motor (52), swing motor mounting seat (53) constitute, swing motor mounting seat (53) is fixing on the supporting plate, shakes
Pendulum motor (52) is arranged in swing motor mounting seat (53), and the rotating shaft of swing motor (52) connects rotating disk (51), described rotating disk
(51) outer is connected with the spray boom tail end (47) of spray boom (41).
6. want the multi-angle badminton service robot described in 5 according to right, it is characterised in that: spray boom tail end (47) is connected to rotating disk
(51) on the outer of 45 degree, 135 degree, 225 degree or 315 degree positions.
7. want the multi-angle badminton service robot described in 2 according to right, it is characterised in that: described rocking equipment (5) is that crank connects
Linkage, is made up of crank (54), crank bearing (55), connecting rod (56), cylinder (57), and one end connecting crank of crank (54) props up
Seat (55), the other end of crank (54) connects spray boom tail end (47) and one end of connecting rod (56), and the other end of connecting rod (56) connects
Cylinder (57), drives spray boom (41) to wave by cylinder (57) motion.
8. want the multi-angle badminton service robot described in 1 according to right, it is characterised in that: the ball cylinder outlet position of storage ball device (7)
In the lower section of gripper shoe (3), below the outlet of ball cylinder, ball cylinder retracting device (9) is set.
9. want the multi-angle badminton service robot described in 2 according to right, it is characterised in that: described storage ball device (7) includes storing up ball
Case, the bottom of ball-storing box is provided with the outlet of ball cylinder, and one of wallboard of ball-storing box is swash plate, is provided with the second plate in the outlet of ball cylinder
Valve (72), is provided with the first push-pull valve (71), the first push-pull valve (71) and the second push-pull valve (72) on the upside of the outlet of ball cylinder and can accommodate one
Individual ball cylinder (74), the first push-pull valve (71) and the second push-pull valve (72) connect respective driving motor respectively or drive cylinder, institute
State ball-storing box and be provided with ball mouth (76)；
Described pushing device (8) includes being arranged on the pushing device base (84) in ball-storing box wallboard (73) outside, described in push the ball dress
Offering slide rail of pushing the ball (86) on bottom set seat (84), set screw mandrel (87) in slide rail of pushing the ball (86), screw mandrel (87) connects to be arranged on pushes the ball
Motor of pushing the ball (88) on device pedestal (84), the upper installation of described screw mandrel (87) pushes the ball slide block (86), and slide block of pushing the ball (86) is upper solid
Determining ball pushing rod (81), described ball pushing rod (81) stretches into the ball cylinder (74) between the first push-pull valve (71) and the second push-pull valve (72)
In, ball pushing rod (81) is pushed into the ball mouth (75) of ball-storing box with slide block of pushing the ball (86) moving handle shuttlecock；Push the ball slide rail (86)
Rear and front end is respectively equipped with limit switch (83) after push the ball slide block front limit switch (82), slide block of pushing the ball, slide block front limit of pushing the ball
After switch (82) and slide block of pushing the ball, limit switch (83) is electrically connected with motor (88) of pushing the ball；
Ball grasping device (6) include central-shaft motor seat (61), central-shaft motor (62), rotating middle shaft (63), grab ball armed lever (64),
Grab ball cylinder (65), grab ball ejecting rod of cylinder (66), grab ball fine motion motor (67), grab ball microswitch (68), grab ball cover (69), institute
Stating central-shaft motor seat (61) to install on the supporting plate, central-shaft motor (62) is arranged on central-shaft motor seat (61), central-shaft motor seat
(61) connecting rotating middle shaft (63), the top of rotating middle shaft (63) is fixed together with grabbing ball armed lever (64), passes through central-shaft motor
(62) drive rotating middle shaft (63), and make to grab ball armed lever (64) and rotate around rotating middle shaft (63), turn to grabbing ball armed lever (64)
Grab position at ball position to arrange and grab ball position-sensing switch, turn to spray the position at position and arrange grabbing ball armed lever (64) and put ball location
Switch；Ball cylinder (65) is grabbed in the upper installation of ball grasping armed lever (64), and ball ejecting rod of cylinder (66) connection of grabbing grabbing ball cylinder (65) is grabbed
Ball fine motion motor (67), grabs ball fine motion motor (67) and connects and grab ball cover (69), and ball grasping fine motion motor (67) is provided with that to grab ball micro-
Dynamic switch (68), grabs ball microswitch (68) and is positioned at the badminton ball torr contact position grabbing ball cover (69).
10. a multi-angle shuttlecock service method, it is characterised in that send out based on the multi-angle shuttlecock described in claim 9
Ball machine, electromagnetic impulse valve, air compressor, swing motor (52) or cylinder (57), the first push-pull valve (71) and the second push-pull valve
(72) driving motor or drive cylinder, motor of pushing the ball (88), central-shaft motor (62), grab ball cylinder (65), grab ball fine motion motor
(67), grab ball position-sensing switch, put ball position-sensing switch connect controller, service step as follows:
Step one, install ball cylinder (74), and control motor (88) work of pushing the ball, make ball pushing rod (81) move, shuttlecock is pushed into
Ball mouth (76)；
Step 2, control central-shaft motor (62) work, when grab ball armed lever (64) touch grab ball position-sensing switch time, central-shaft motor
(62) stop operating, control to grab ball gas (65) motion, make grab ball fine motion motor (67) and grab the close shuttlecock of ball cover (69), when grabbing
During ball microswitch (68) touching badminton ball torr, grab ball fine motion motor (67) driving and grab ball cover (69) contraction, catch shuttlecock,
Then grabbing ball cylinder (65) to reset, catch shuttlecock to depart from ball mouth (76), then central-shaft motor (62) drives and grabs ball armed lever
(64) rotating, when grabbing ball armed lever (64) touching and putting ball position-sensing switch, central-shaft motor (62) stops the rotation, and makes to grab ball cylinder
(65) motion, makes to grab ball fine motion motor (67) and grabs ball cover (69) and the shuttlecock caught to the shower nozzle (42) of described injection apparatus
Motion, after putting in place, badminton ball torr can extrude grabs ball microswitch (68), now, grabs ball fine motion motor (67) and resets, make to grab ball
Set (69) unclamps reset, and after reset, that grabs ball cylinder (65) grabs ball ejecting rod of cylinder (66) retracted for clearance, and shuttlecock is just placed
Upper at shower nozzle (42), then central-shaft motor (62) motion, make to grab ball armed lever (64) to grabbing the motion of ball position；
Step 3, controls rocking equipment motion, thus changes the angle of shower nozzle (42), start electromagnetic impulse valve, high pressure gas afterwards
Body quickly ejects shuttlecock, completes service, after rocking equipment starts, is randomly provided delay time, and electromagnetic impulse valve prolongs
Shi Qidong, the length of delay time is the time in 0 to rocking equipment, one cycle of motion, uses random function to set time delay at random
The length of time.
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| CN108671516A (en) * | 2018-03-23 | 2018-10-19 | 谢曼娟 | A kind of badminton player's hand rehabilitation ancillary equipment |
| CN109364449A (en) * | 2018-11-07 | 2019-02-22 | 深圳市普尚健康技术有限公司 | A kind of shuttlecock toggle mechanism and badminton service robot |
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| CN111870920A (en) * | 2020-06-18 | 2020-11-03 | 广西农业职业技术学院 | Multi-angle launching device for air volleyball training |
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