CN106799033A - Portable badminton service robot device people - Google Patents
Portable badminton service robot device people Download PDFInfo
- Publication number
- CN106799033A CN106799033A CN201710139206.6A CN201710139206A CN106799033A CN 106799033 A CN106799033 A CN 106799033A CN 201710139206 A CN201710139206 A CN 201710139206A CN 106799033 A CN106799033 A CN 106799033A
- Authority
- CN
- China
- Prior art keywords
- ball
- support member
- robot device
- service robot
- wheel
- Prior art date
- 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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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
- A63B2102/04—Badminton
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of portable badminton service robot device people, including frame, the omni-directional wheel chassis for being arranged on the folder ball machine structure of frame upper end, the kicking machine being arranged on below folder ball machine structure, being arranged on frame lower end, kicking machine drives racket vertically to rotate impact shuttlecock after the folder ball machine structure release shuttlecock., using three-wheel omni-directional wheel chassis as mobile platform, used as kicking machine, mechanism is simple, stable movement for four-bar mechanism for the present invention.
Description
Technical field
It is used as by three-wheel omni-directional wheel chassis the invention belongs to badminton service robot device people's technical field, more particularly to one kind
Mobile platform, four-bar mechanism as kicking machine people movable type badminton service robot device people.
Background technology
With the development of society, the improvement of people's living standards, increasing people proceeds by physical training.Shuttlecock
Move into for a sports events for awfully hot door.The shuttlecock robot that can be fought each other as substitute and people is increasingly
Favored by masses, so as to solve the worries without training mate.
Because the robot that swings the bat is high to the precision prescribed of mechanical arm so that the shuttlecock robot architecture of prior art answers
Miscellaneous, flexibility is not strong, it is impossible to enough meet the man-machine battle requirement of real-time shuttlecock.China Patent Publication No. CN205683546U,
November 16 2016 publication date, entitled " the improved shuttlecock automatic pitching machine of structure " has complex structure, service
Point is not fixed, it may appear that the shortcomings of return of serve.China Patent Publication No. CN105963949A, at 28 on publication date 2016 year 09 month,
Entitled " a kind of shuttlecock serve trainer " is using multiple catapult-launching gears, the service bad control of dynamics.
The content of the invention
In order to solve the defect of traditional robot arm complexity of swinging the bat, the present invention provides a kind of portable shuttlecock hair
Ball robot.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of portable badminton service robot device people, including frame, be arranged on the folder ball machine structure of frame upper end, be arranged on folder ball machine
Kicking machine below structure, the omni-directional wheel chassis for being arranged on frame lower end, kicking machine after the folder ball machine structure release shuttlecock
Racket is driven vertically to rotate impact shuttlecock.
Further, the folder ball machine structure includes a pair symmetrical ball chucks with arc-shaped structure, linear electric motors, motor branch
Frame, underframe, clamping plate, dress ball-collecting rack, the ball chuck connects the rotating shaft of linear electric motors, and linear electric motors control ball chuck opens or closes reality
Now to the clamping and release of shuttlecock, linear electric motors are fixed on electric machine support, are fixed on electric machine support on dress ball-collecting rack, the dress
Ball-collecting rack middle opening, the shuttlecock of the ball chuck clamping is located at the overthe openings, and shuttlecock can drop to racket from the opening
On, dress ball-collecting rack passes through Boards wall on underframe to strengthen stability.
Further, the kicking machine includes sleeve, air cylinder support, cylinder, support platform, U-shaped support member A, U-shaped support
Part B；The cylinder is fixed on air cylinder support, and air cylinder support, U-shaped support member A are fixed in support platform, and U-shaped support member B consolidates
It is scheduled on piston rod one end of cylinder；The sleeve is rotated near racket side and U-shaped support member A and is connected, sleeve tail end and U-shaped branch
Support member B rotates connection, i.e. cylinder, piston rod, the racket being connected on sleeve and U-shaped support member A and constitutes a four-bar mechanism,
When piston rod is pulled up, racket is moved downward, and when piston rod is pressed downward, racket is moved upwards, realize to from folder ball machine structure
On the impact of shuttlecock that falls.
Further, omni-directional wheel chassis includes three omnidirectional's wheel assemblies, and omnidirectional's wheel assembly includes shaft coupling, decelerator, coding
Device, motor, driver, M types component, omni-directional wheel；The decelerator and omni-directional wheel are arranged on M type components both sides, and shaft coupling is set
In M type components, the support to decelerator and omni-directional wheel is realized；Decelerator and omni-directional wheel are coaxially connected by shaft coupling, motor
It is coaxially connected with decelerator, driver connection motor.
Further, the angle between three omnidirectional's wheel assemblies is 120 °.
, using three-wheel omni-directional wheel chassis as mobile platform, used as kicking machine, mechanism is simple, fortune for four-bar mechanism for the present invention
It is dynamic steady.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of movable type badminton service robot device people of the invention；
Fig. 2 is the folder ball machine structure structural representation of movable type badminton service robot device people of the invention；
Fig. 3 is the kicking machine structural representation of movable type badminton service robot device people of the invention；
Fig. 4 is the omni-directional wheel chassis structure schematic diagram of movable type badminton service robot device people of the invention；
Fig. 5 is the omnidirectional wheel structure schematic diagram of movable type badminton service robot device people of the invention.
Specific embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
As shown in figure 1, the present invention provides a kind of portable badminton service robot device people, including frame 3, it is arranged on frame 3
The folder ball machine structure 1 of upper end, the kicking machine 2 for being arranged on the lower section of folder ball machine structure 1, the omni-directional wheel chassis 4 for being arranged on the lower end of frame 3,
Kicking machine 2 drives racket vertically to rotate impact shuttlecock after the folder ball machine structure 1 discharges shuttlecock.
As shown in Fig. 2 folder ball machine structure includes a pair symmetrical ball chucks 11 with arc-shaped structure, linear electric motors 12, electricity
Machine support 13, underframe 14, clamping plate 15, dress ball-collecting rack 16, the ball chuck 11 connect the rotating shaft of linear electric motors 12, and linear electric motors 12 are controlled
Clamping and release to shuttlecock is realized in opening or closing for ball chuck 11, and linear electric motors 12 are fixed on electric machine support 13, motor
It is fixed on support 13 on dress ball-collecting rack 16, the middle opening of dress ball-collecting rack 16, the shuttlecock of the clamping of the ball chuck 11 is located at described opening
Above mouthful, shuttlecock can be dropped on racket from the opening, and dress ball-collecting rack 16 is fixed on underframe 14 steady to strengthen by clamping plate 15
It is qualitative.
As shown in figure 3, the kicking machine 2 includes sleeve 22, air cylinder support 26, cylinder 27, support platform 28, U-shaped branch
Support member A 29, U-shaped support member B 30；The cylinder 27 is fixed on air cylinder support 26, air cylinder support 26, U-shaped support member A 29
It is fixed in support platform 28, U-shaped support member B 30 is fixed on the one end of piston rod 25；The sleeve 22 is near racket side and U
Shape support member A 29 rotates connection, and the tail end of sleeve 22 is rotated with U-shaped support member B 30 and is connected, cylinder 27, piston rod 25, sleeve 22
The racket 21 and support member A 29 of connection constitute a four-bar mechanism, when piston rod 25 is pulled up, racket 21
Move downward, when piston rod 25 is pressed downward, racket 21 is moved upwards, realize the shuttlecock to being fallen from folder ball machine structure
Impact.
Rotating connection can specifically be realized by following structure：Wheel flange A 23 is clamped in sleeve 22 near racket side,
Wheel flange B 24 is clamped in the tail end of sleeve 22, and wheel flange A 23, wheel flange B 24 are respectively equipped with support arm, and support arm is arranged on U
In shape support member, support arm, U-shaped support member A 29, U-shaped support member B 30 are respectively provided on two sides with bearing hole, and bearing pin is through folder
The support arm of circle and the bearing hole of U-shaped support member are held, realizes rotating connection.
Wheel flange A 23 and wheel flange B 24 can be bolted by two half-turn structure compositions, two and half coil structures
The clamping to sleeve 22 is realized in connection.
The present invention can not also use wheel flange come gripper sleeve 22, and two support arms, branch are directly set on sleeve 22
Brace, U-shaped support member A 29, U-shaped support member B 30 are respectively provided on two sides with bearing hole, and support arm is arranged in U-shaped support member,
Bearing pin is realized rotating connection through wheel flange and the bearing hole of U-shaped support member.
As shown in figure 4, omni-directional wheel chassis 4 includes three omnidirectional's wheel assemblies 41,42,43 and support 44.Three omni-directional wheels are total
Into 41, the angle between 42,43 is 120 °.Robot is realized to not using three speed differences of omnidirectional's wheel assembly 41,42,43
Same direction movement.
As shown in figure 5, omnidirectional's wheel assembly 41,42,43 includes shaft coupling 411, decelerator 412, encoder 413, motor
414th, driver 415, M types component 416, omni-directional wheel 417；The decelerator 412 and omni-directional wheel 417 are arranged on 416 liang of M types component
Side, shaft coupling 411 is arranged in M types component 416, realizes the support to decelerator 412 and omni-directional wheel 417；Decelerator 412 and complete
Coaxially connected by shaft coupling 411 to wheel 417, motor 414 is coaxially connected with decelerator 412, and the moment of torsion and speed of motor 414 lead to
Cross decelerator 412 and pass to omni-directional wheel 417, connection motor 414 motor of driver 415 is rotated, and encoder 413 determines motor
414 rotating speed.
Claims (5)
1. a kind of portable badminton service robot device people, it is characterised in that：Including frame (3), it is arranged on the folder of frame (3) upper end
Ball machine structure (1), the kicking machine (2) being arranged on below folder ball machine structure (1), the omni-directional wheel chassis for being arranged on frame (3) lower end
(4), kicking machine (2) drives racket vertically to rotate impact shuttlecock after folder ball machine structure (1) the release shuttlecock.
2. portable badminton service robot device people according to claim 1, it is characterised in that：The folder ball machine structure includes one
To the symmetrical ball chuck (11) with arc-shaped structure, linear electric motors (12), electric machine support (13), underframe (14), clamping plate (15),
Dress ball-collecting rack (16), the rotating shaft of the ball chuck (11) connection linear electric motors (12), linear electric motors (12) are fixed on electric machine support (13)
On, it is fixed on electric machine support (13) on dress ball-collecting rack (16), dress ball-collecting rack (16) middle opening, the plumage of ball chuck (11) clamping
Ball top is located at the overthe openings, and dress ball-collecting rack (16) is fixed on underframe (14) by clamping plate (15).
3. portable badminton service robot device people according to claim 2, it is characterised in that：Kicking machine (2) bag
Include sleeve (22), air cylinder support (26), cylinder (27), support platform (28), U-shaped support member A (29), U-shaped support member B (30)；
The cylinder (27) is fixed on air cylinder support (26), and air cylinder support (26), U-shaped support member A (29) are fixed on support platform
(28) on, U-shaped support member B (30) is fixed on piston rod (25) one end of cylinder (27)；The sleeve (22) is near racket side
Rotated with U-shaped support member A (29) and be connected, sleeve (22) tail end is rotated with U-shaped support member B (30) and is connected.
4. portable badminton service robot device people according to claim 3, it is characterised in that：Omni-directional wheel chassis (4) includes
Three omnidirectional's wheel assemblies (41,42,43), omnidirectional's wheel assembly (41,42,43) includes shaft coupling (411), decelerator (412), coding
Device (413), motor (414), driver (415), M types component (416), omni-directional wheel (417)；The decelerator (412) and omnidirectional
Wheel (417) is arranged on M types component (416) both sides, and shaft coupling (411) is arranged in M types component (416), decelerator (412) and entirely
Coaxially connected by shaft coupling (411) to wheel (417), motor (414) is coaxially connected with decelerator (412), and driver (415) is even
Connect motor (414).
5. portable badminton service robot device people according to claim 4, it is characterised in that：Three omnidirectional's wheel assemblies (41,
42,43) angle between is 120 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710139206.6A CN106799033A (en) | 2017-03-09 | 2017-03-09 | Portable badminton service robot device people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710139206.6A CN106799033A (en) | 2017-03-09 | 2017-03-09 | Portable badminton service robot device people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106799033A true CN106799033A (en) | 2017-06-06 |
Family
ID=58987308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710139206.6A Pending CN106799033A (en) | 2017-03-09 | 2017-03-09 | Portable badminton service robot device people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106799033A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108686359A (en) * | 2018-06-06 | 2018-10-23 | 昆明理工大学 | A kind of multivariant ball-throwing apparatus |
| CN108818563A (en) * | 2018-07-12 | 2018-11-16 | 贺婷 | A kind of batting robot |
| CN108854005A (en) * | 2018-07-05 | 2018-11-23 | 麻春景 | A kind of all-around mobile shuttlecock robot |
| CN109173217A (en) * | 2018-08-27 | 2019-01-11 | 山东科技大学 | A kind of shuttlecock hits pitching robot |
| CN109925702A (en) * | 2019-04-21 | 2019-06-25 | 冯庆鲲 | A kind of automatic service robot of novel badminton |
| CN112571434A (en) * | 2020-12-18 | 2021-03-30 | 华南理工大学广州学院 | Shooting robot with large swing angle |
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| CN2631572Y (en) * | 2003-07-07 | 2004-08-11 | 北京航空航天大学 | Automatic shuttle servicing device |
| CN2822708Y (en) * | 2005-06-24 | 2006-10-04 | 中机生产力促进中心 | Manipulator used for servicing machine of badminton |
| JP2007160045A (en) * | 2005-12-14 | 2007-06-28 | Tokyo Institute Of Technology | Shooting machine and supplying machine |
| CN202777705U (en) * | 2012-06-28 | 2013-03-13 | 奇宸企业社 | Shuttlecock pitching machine |
| CN205198897U (en) * | 2015-11-18 | 2016-05-04 | 邱钟洪 | Bionical badminton service robot |
| CN205391670U (en) * | 2016-03-11 | 2016-07-27 | 天津工业大学 | Badminton service machine people |
| CN106075853A (en) * | 2016-07-07 | 2016-11-09 | 安徽理工大学 | A kind of badminton companion trainer device people |
| CN205683546U (en) * | 2016-06-01 | 2016-11-16 | 常熟理工学院 | The shuttlecock automatic pitching machine that structure is improved |
| CN206853077U (en) * | 2017-03-09 | 2018-01-09 | 武汉科技大学 | Portable badminton service robot device people |
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2017
- 2017-03-09 CN CN201710139206.6A patent/CN106799033A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2631572Y (en) * | 2003-07-07 | 2004-08-11 | 北京航空航天大学 | Automatic shuttle servicing device |
| CN2822708Y (en) * | 2005-06-24 | 2006-10-04 | 中机生产力促进中心 | Manipulator used for servicing machine of badminton |
| JP2007160045A (en) * | 2005-12-14 | 2007-06-28 | Tokyo Institute Of Technology | Shooting machine and supplying machine |
| CN202777705U (en) * | 2012-06-28 | 2013-03-13 | 奇宸企业社 | Shuttlecock pitching machine |
| CN205198897U (en) * | 2015-11-18 | 2016-05-04 | 邱钟洪 | Bionical badminton service robot |
| CN205391670U (en) * | 2016-03-11 | 2016-07-27 | 天津工业大学 | Badminton service machine people |
| CN205683546U (en) * | 2016-06-01 | 2016-11-16 | 常熟理工学院 | The shuttlecock automatic pitching machine that structure is improved |
| CN106075853A (en) * | 2016-07-07 | 2016-11-09 | 安徽理工大学 | A kind of badminton companion trainer device people |
| CN206853077U (en) * | 2017-03-09 | 2018-01-09 | 武汉科技大学 | Portable badminton service robot device people |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108686359A (en) * | 2018-06-06 | 2018-10-23 | 昆明理工大学 | A kind of multivariant ball-throwing apparatus |
| CN108854005A (en) * | 2018-07-05 | 2018-11-23 | 麻春景 | A kind of all-around mobile shuttlecock robot |
| CN108818563A (en) * | 2018-07-12 | 2018-11-16 | 贺婷 | A kind of batting robot |
| CN109173217A (en) * | 2018-08-27 | 2019-01-11 | 山东科技大学 | A kind of shuttlecock hits pitching robot |
| CN109925702A (en) * | 2019-04-21 | 2019-06-25 | 冯庆鲲 | A kind of automatic service robot of novel badminton |
| CN109925702B (en) * | 2019-04-21 | 2021-01-05 | 冯庆鲲 | Novel automatic ball serving device for badminton |
| CN112571434A (en) * | 2020-12-18 | 2021-03-30 | 华南理工大学广州学院 | Shooting robot with large swing angle |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170606 |