CN107137895B - A kind of dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock - Google Patents
A kind of dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock Download PDFInfo
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- CN107137895B CN107137895B CN201710414910.8A CN201710414910A CN107137895B CN 107137895 B CN107137895 B CN 107137895B CN 201710414910 A CN201710414910 A CN 201710414910A CN 107137895 B CN107137895 B CN 107137895B
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- mover
- wire driven
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- driven robot
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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
- A63B69/0017—Training appliances or apparatus for special sports for badminton
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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
- A63B69/38—Training appliances or apparatus for special sports for tennis
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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
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
The present invention provides a kind of dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock, it includes four Wire driven robot devices for being distributed in angles of court, eight flexible cables and an end emitter, the Wire driven robot device includes pedestal, the column being separately mounted on pedestal, a pair of of Wire driven robot device and the top pulleys for being mounted on column top, each Wire driven robot device is all connected with the flexible cable, in two flexible cables by the driving of same Wire driven robot device, one is directly connected to the end emitter, another around connecting the end emitter after the top pulleys, the end emitter is by eight flexible cable control positions and launch angle.The novel dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock has the advantages that the motor-driven service of design science, larger space, Electronic control delivery of service, promotes service frequency, favorable expandability.
Description
Technical field
The present invention relates to a kind of robots, specifically, it is dual-purpose auxiliary to relate to a kind of novel Wire driven robot tennis shuttlecock
Help image training robot.
Background technique
Tennis sportsman is trained under not the accompanying of trainer typically only by batting in face of metope.But
Ball is interactive in the not easy to control and shortage through rebound rear direction and speed, and the method is difficult the effectively batsmanship to practitioner
It is standardized and is improved.
And for shuttlecock training, self training method is more limited.
Most tennises or shuttlecock trainer aircraft currently on the market mostly use similar with baseball emitter to turning two-wheel
The transmitting of mechanism progress tennis.Such tennis or shuttlecock supplemental training device are typically more heavy and position is fixed, and serve a ball
Range is only capable of the limited fan-shaped region in court in front of cladding system, the requirement flexibly served a ball with can not adapting to the whole audience.
Although some designers also proposed the training device served a ball using pneumatic device, weight is alleviated, this
Class device equally has the shortcomings that limited coverage area of serving a ball, and furthermore how for such pneumatic device to provide stabilization and quiet gas
Source also becomes its universal major obstacles.
In order to solve the above problems, people are seeking always a kind of ideal technical solution.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, to provide a kind of design science, the motor-driven hair of larger space
Ball, Electronic control delivery of service promote service frequency, a kind of novel dual-purpose auxiliary of Wire driven robot tennis shuttlecock of favorable expandability
Image training robot.
To achieve the goals above, the technical scheme adopted by the invention is that：A kind of novel Wire driven robot tennis shuttlecock
Dual-purpose supplemental training robot, including four Wire driven robot devices for being distributed in angles of court, eight flexible cables and an end hair
Injection device, the Wire driven robot device include pedestal, the column being separately mounted on pedestal, a pair of of Wire driven robot device and installation
In the top pulleys of column top, each Wire driven robot device is all connected with the flexible cable, is driven by same Wire driven robot device
Two flexible cables in, one is directly connected to the end emitter, and another around connecting the end after the top pulleys
Emitter is held, the end emitter is by eight flexible cable control positions and launch angle.
Described on base, the Wire driven robot device includes substrate, servo motor, driving mechanism, sliding slot, movable pulley module and determines
Pulley module is constituted, and is respectively mounted pulley in the movable pulley module and the fixed pulley module and is constituted pulley blocks, the flexible cable
One end it is fixed on the substrate, then pass around the pulley blocks, the movable pulley module is mounted in the sliding slot, described
Servo motor drives the movable pulley module to move along the sliding slot by the driving mechanism.
It is described on base, flexible cable check device is also equipped on the substrate, the flexible cable check device includes check device bracket, limit
Position roller, lead rail axis, pressure spring, sliding block, contact roller and the locking dental lamina of annular and adjusting screw, the inlet and outlet of the check device
It is mounted on a pair of of limit roller, the lead rail axis is mounted on the check device bracket, and the sliding block is mounted on the guide rail
On axis, contact roller installation on the slide block, the locking dental lamina of annular correspond to the contact roller be mounted on it is described locking
On device bracket, the compression spring sleeve in the lead rail axis and drive the sliding block mobile so that the contact roller always with it is described
The locking dental lamina of annular abuts, and the pressure of the pressure spring can be adjusted by the adjusting screw, the flexible cable successively pass through into
A pair of of limit roller of a pair of of limit roller, the contact roller and exit at mouthful.
Described on base, the end emitter is strip, the corner location of the end emitter transverse ends
Four retaining rings are respectively set, eight flexible cables are fixedly connected with eight retaining ring one-to-one correspondence respectively.
Described on base, the end emitter includes ball storage tube, stator, mover, pick-and-place device and control mover folding and unfolding
Electronic pin B, the ball storage tube is mounted on the rear end of the stator, and one control of ball storage tube lower end installation loads the electronic of ball
A is sold, the electronic pin B of the control mover folding and unfolding controls the folding and unfolding of mover by cooperating with flexibly positioned hook, and the mover is dynamic
Stator described in the driving lower edge of force mechanisms is mobile, and the pick-and-place device is mounted on the mover and with the motion state tune of mover
Whole pick-and-place state, the ball mouth of the ball storage tube correspond to the pick-and-place device setting.
It is described on base, the stator include acrylic substrate constitute main body, preceding substrate, metacoxal plate, along the mover side of movement
To electromagnetic coil sequence, the conductive copper of the corresponding electromagnetic coil sequence installation on the body of installation on the body
Plate, guiding axis, buffer spring and three-level guide rail, the main body are fixed between the preceding substrate and the metacoxal plate, described dynamic
Son is mounted on the guiding axis by Ceramic shaft sleeve, and the mover is metal mover, installs brush, the electricity on the mover
Brush is contacted with the conductive copper plate, and the both ends of the guiding axis are separately fixed on the preceding substrate and the metacoxal plate, described
The both ends of guiding axis are mounted on buffer spring, and the three-level guide rail is mounted on the body side, the pick-and-place device pair
The three-level guide rail is answered to be arranged to adjust pick-and-place state with the Orbit revolutionary of three-level guide rail.
Described on base, the pick-and-place device includes insulator foot, handgrip, follower lever, and the insulator foot is fixed on described
On mover, the handgrip includes that the elastic body that constitutes of torsional spring and pin shaft promotes the handgrip to be unfolded outward always, described driven
The lower end of bar is slidably matched with the three-level guide rail, and the middle part of the follower lever passes through the pilot hole on the insulator foot, institute
The top for stating follower lever abuts the outside of the handgrip.
Described on base, the three-level guide rail includes the initial segment, accelerating sections and releasing section, and the initial segment is lower than the acceleration
Section, the releasing section are lower than the initial segment, the initial segment, the accelerating sections and the releasing section successively smooth transition.
It is described on base, the driving structure include a pair of of the grinding tooth wheel for connecting the servo motor output shaft, by this to nibbling
The synchronous belt mechanism that is driven after gear deflecting, a pair of of the steel wire reel being driven by the synchronous belt mechanism and it is wound around a pair of steel
Steel wire on silk reel, the movable pulley module are connect with the fixation with steel wire.
Described on base, the main body is made of two pieces of zigzag shape acrylic board docking, is opened up in the middle part of the acrylic board
A series of openings, the electromagnetic coil sequence are sequentially arranged in the opening, and the upper lower edge of the acrylic board is glued 4 pieces altogether
The conducting wire of the conductive copper plate, the conductive copper plate and the electromagnetic coil sequence is arranged in the line concentration in the middle part of the acrylic board
Guan Zhong, the mover are I-shaped mover, and the corresponding 4 pieces of conductive copper plates in the side of the mover upper and lower ends install 4 electricity
Brush, installs 2 guiding axis between the preceding substrate and the metacoxal plate, upper and lower ends corresponding 2 of the I-shaped mover lead
Two pilot holes are opened up to axis, the Ceramic shaft sleeve is mounted in the pilot hole.
The present invention has substantive distinguishing features outstanding and significant progress compared with the prior art, specifically, present invention tool
It has the advantage that：
1, using eight flexible cable fixation ends emitters, eight flexible cables are led to by eight corresponding Wire driven robot devices respectively
Overstretching acts carry out state adjustment, is directly connected to four flexible cables of end emitter and four flexible cables around top pulleys
Due to the difference of draw direction, it can cooperate and realize that serving position, ball launch angle are adjusted flexibly, realize 3 freedom degrees
The movement of translational motion, pitching motion and yawing rotation totally 5 freedom degrees.
2, it is served a ball using electromagnetic launch principle, electromagnetic launch output power is easier to realize automation control, use
Mechanical structure realizes the pick-and-place of ball automatically, can greatly shorten service time, improves service frequency.
3, end ball serving device is compact-sized small and exquisite, and flexibility is high, reduces control difficulty.
4, modularized design, scalability is good, can provide for simple replacement of end ball serving device, realizes that the switching of various ball makes
With.
Detailed description of the invention
Fig. 1 is the dual-purpose supplemental training robot architecture schematic diagram of Wire driven robot tennis shuttlecock.
Fig. 2 is the structural schematic diagram of Wire driven robot device.
Fig. 3 is Wire driven robot device explosive view.
Fig. 4 is the explosive view of Wire driven robot device driving mechanism.
Fig. 5 is movable pulley module explosive view in Wire driven robot device.
Fig. 6 is flexible cable check device explosive view in Wire driven robot device.
Fig. 7 is the operation schematic diagram of flexible cable check device.
Fig. 8 is end emitter overall structure diagram.
Fig. 9 is end emitter explosive view.
Figure 10 is end emitter stator rear end structure schematic diagram.
Figure 11 is end emitter stator front-end architecture schematic diagram.
Figure 12 is emitter mover and pick-and-place apparatus structure schematic diagram.
Figure 13 a, Figure 13 b and Figure 13 c are pick-and-place device course of work schematic diagrames.
Figure 14 is the course of work schematic diagram for emitting shuttlecock.
In figure：1 bracket；2 Wire driven robot devices；3 flexible cables；4 end emitters；
1.1 top pulleys；1.2 pillar；1.3 U-shaped fastening bolts；1.4 pedestal；
2.1 stay bolt；2.2 steel wire reels；2.3 bearing；2.4 supporting block；2.5 substrate；2.6 nuts and gasket；
2.7 drive system；2.8 dovetail groove；2.9 movable pulley modules；2.10 flexible cable end fixing bolts；2.11 flexible cable check device；
2.12 fixed pulley module；2.13 positioning screw；2.14 steel wire tightening device；2.15 steel wire；2.16 circlip
2.7.1 servo motor；2.7.2 key A；2.7.3 bevel gear A；2.7.4 shaft end ring and screw；2.7.5 screw；
2.7.6 motor support frame；2.7.7 support frame fixing bolt；2.7.8 axle sleeve A；2.7.9 synchronous pulley A；2.7.10 key B；
2.7.11 key C；2.7.12 shaft A；2.7.13 bevel gear B；2.7.14 axle sleeve B；2.7.15 bearing；2.7.16 nut and
Gasket；2.7.17 circlip；2.7.18 tensioning wheel；2.7.19 bearing；2.7.20 shaft B；2.7.21 axle sleeve C；
2.7.22 synchronous belt；2.7.23 synchronous pulley B；2.7.24 key D；2.7.25 rotating shaft C；2.7.26 key E；
2.9.1 running block bracket；2.9.2 screw；2.9.3 dovetail groove sliding block；2.9.4 housing screw；2.9.5
Fixation with steel wire dental lamina；2.9.6 circlip；2.9.7 pin shaft；2.9.8 bearing；2.9.9 pulley；
2.11.1 pin shaft；2.11.2 spring；2.11.3 lead rail axis；2.11.4 adjusting screw；2.11.5 check device branch
Frame；2.11.6 limited roller；2.11.7 baffle；2.11.8 sliding block；2.11.9 pulley；2.11.10 annular locking dental lamina；
2.11.11 pin shaft；
2.12.1 pulley；2.12.2 bearing；2.12.3 pin shaft；2.12.4 circlip；2.12.5 fixed pulley group branch
Frame；
4.1 ball storage tube；4.2 electronic pin A；4.3 stationary part；4.4 movers and pick-and-place device；4.5 tennis；
4.3.1 end plate；4.3.2 guide rail shaft end nut；4.3.3 flexible cable anchor bolt；4.3.4 lead rail axis；4.3.5
Bolt；4.3.6 collect spool；4.3.7 electromagnetic coil；4.3.8 conductive copper plate；4.3.9 acrylic substrate；4.3.10 spring；
4.3.11 electronic pin B；4.3.12 front end-plate；4.3.13 screw；4.3.14 three-level guide rail；
4.4.1 screw；4.4.2 plastic feet；4.4.3 flexibly positioned hook；4.4.4 Ceramic shaft sleeve；4.4.5 mover；
4.4.6 screw；4.4.7 brush；4.4.8 follower lever；4.4.9 torsional spring；4.4.10 pin shaft；4.4.11 handgrip.
Specific embodiment
Below by specific embodiment, technical scheme of the present invention will be described in further detail.
As depicted in figs. 1 and 2, a kind of dual-purpose supplemental training robot of novel Wire driven robot tennis shuttlecock, including four
It is distributed in Wire driven robot device, eight flexible cables and the end emitter of angles of court, the Wire driven robot device includes
Pedestal, the column being separately mounted on pedestal, a pair of of Wire driven robot device and the top pulleys for being mounted on column top, Mei Gerou
Rope driver is all connected with the flexible cable, and in two flexible cables by the driving of same Wire driven robot device, one is directly connected to institute
State end emitter, another around connecting the end emitter, the end emitter after the top pulleys
By eight flexible cable control positions and launch angle.
By the following contents, the specific structure and principle of all parts are illustrated：
The Wire driven robot device includes substrate, servo motor, driving mechanism, sliding slot, movable pulley module and fixed pulley module
It constitutes, be respectively mounted pulley in the movable pulley module and the fixed pulley module and constitute pulley blocks, one end of the flexible cable is solid
Determine on the substrate, to then pass around the pulley blocks, the movable pulley module is mounted in the sliding slot, and sliding slot is in this implementation
Dovetail groove is used in example, the servo motor drives the movable pulley module to move along the sliding slot by the driving mechanism.
The driving structure includes a pair of of the grinding tooth wheel for connecting the servo motor output shaft, same to being driven after grinding tooth wheel deflecting by this
It walks with mechanism, a pair of of the steel wire reel being driven by the synchronous belt mechanism and the steel wire being wound around on a pair of steel wire reel, institute
Movable pulley module is stated to connect with the fixation with steel wire.
Specifically, servo motor 2.71 passes through screw 2.75, bolt 2.77 and motor support as shown in Fig. 3, Fig. 4 and Fig. 5
Frame 2.76 is mounted on one end among two pieces of substrates 2.5 of Wire driven robot device far from fixed pulley module 2.12.Bevel gear A 2.7.3
It is fixed on motor shaft by key A 2.7.2 and shaft end ring 2.7.4, and by engaging with bevel gear B 2.7.13 by power
Shaft A 2.7.12 is driven to, wherein shaft A 2.7.12 is fixed on inside substrate by two bearing 2.7.15, bevel gear B
2.7.13 it is mounted on shaft A 2.7.12 by key C 2.7.11 and axle sleeve B 2.7.14.Subsequent synchronous pulley A 2.7.9（By
Key B 2.7.10 and axle sleeve A 2.7.8 are mounted on shaft A 2.7.12）Power is transferred to synchronization by synchronous belt 2.7.22
Belt wheel B 2.7.23.Synchronous belt 2.7.22 is tensioned by tensioning wheel 2.7.18, and tensioning wheel 2.7.18 passes through circlip herein
2.7.17 it is mounted on bearing 2.7.19 on the shaft B 2.7.20 being fixed on substrate.Synchronous pulley B 2.7.23 passes through key D
2.7.24 it is mounted on rotating shaft C 2.7.25 with axle sleeve C 2.7.21, rotating shaft C 2.7.25 then passes through two pairs of bearings 2.3 and elasticity
Retaining ring 2.16 is mounted on inside substrate.And the steel wire reel 2.2 of substrate two sides is then mounted on rotating shaft C by key E 2.7.26
2.7.25 on, so far the rotation of steel wire reel 2.2 is can be driven in the power of motor 2.7.1, and then drives steel wire 2.15 along being parallel to
The translation of 2.8 direction of dovetail groove.Be connected to movable pulley module 2.9 on steel wire 2.15 then with two sides steel wire 2.15 translation and edge
2.8 direction of dovetail groove is mobile.
The dovetail groove sliding block 2.9.3 of 2.9 two sides of movable pulley module is by being mounted on running block bracket by screw 2.9.2
2.9.1 two sides, dovetail groove sliding block 2.9.3 can guarantee that dovetail groove 2.8 of the movable pulley module 2.9 in substrate 2.5 steadily moves.12
A pulley 2.9.9 for being equipped with bearing 2.9.8 is mounted on running block bracket by pin shaft 2.9.7 and circlip 2.9.6
On 2.9.1.During the installation process, the steel wire 2.15 of substrate dovetail groove 2.8 is parallel on the outside of substrate by stretching out in dovetail groove 2.8
Dovetail groove sliding block 2.9.3 on the outside of fluting in, and be fixed by fixation with steel wire dental lamina 2.9.5 by screw 2.9.4,
Guarantee moving synchronously for steel wire 2.15 and movable pulley module 2.9 with this.
The changeable flexible cable 3 being wrapped in movable pulley module 2.9 and fixed pulley module 2.12 of the movement of movable pulley module 2.9
Length variation, as shown in the figure, if 12 pulleys wind flexible cable 3, the movement of movable pulley module can then amplify 24
Times, about 24 meters of flexible cable 3 of folding and unfolding length can be realized for the Wire driven robot device 2 that one length of tennis training gets over one meter or so,
It is enough to cope with half of court（18.3 meters × 18.3 meters）Interior translation and pose adjustment.
3 initial end of flexible cable is pressed on substrate 2.5 by flexible cable end fixing screws 2.10, and subsequent flexible cable 3 is successively around dynamic
Pulley blocks on pulley module 2.9 and fixed pulley module 2.12, the flexible cable other end are connected on the transmitter of end.
Wire driven robot device can by adjusting be wound on movable and fixed pulley intermodule flexible cable circle several pairs of drivers folding and unfolding length into
Row is adjusted flexibly.
To improve transmission accuracy, steel wire 2.15 need to wind multi-turn on steel wire reel 2.2, and need to pass through steel wire tightening device
2.14 being tensioned.
As shown in fig. 6, be also equipped with flexible cable check device on the substrate, the flexible cable check device include check device bracket,
It limits roller, lead rail axis, pressure spring, sliding block, contact roller and the locking dental lamina of annular and adjusts screw, the import of the check device and go out
Mouth is mounted on a pair of of limit roller, and the lead rail axis is mounted on the check device bracket, and the sliding block is mounted on described lead
On rail axis, on the slide block, the locking dental lamina of annular, which corresponds to the contact roller and is mounted on, described to be prevented for contact roller installation
On loose device bracket, the compression spring sleeve in the lead rail axis and drive the sliding block mobile so that the contact roller always with institute
It states the locking dental lamina of annular to abut, the pressure of the pressure spring can be adjusted by the adjusting screw, and the flexible cable is successively passed through
A pair of of limit roller, the contact roller and a pair of of the limit roller in exit of entrance.
Specifically, to solve this problem, designing flexible cable check device 2.11.As shown in fig. 6, the flexible cable of flexible cable check device 2.11
Import and export has one group of limited roller 2.11.6 being mounted on check device bracket 2.11.5 by pin shaft 2.11.1 respectively.It is locking
Arrange two lead rail axis 2.11.3 above and below the midline of device bracket 2.11.5, is separately installed with a pair of of gear on lead rail axis 2.11.3
A piece 2.11.7 and spring 2.11.2 and sliding block 2.11.8.There is one to install by pin shaft 2.11.11 on sliding block 2.11.8
Pulley 2.11.9.The spring 2.11.2 on lead rail axis 2.11.3 will drive sliding block 2.11.8 to move along lead rail axis 2.11.3 herein,
The groove of pulley 2.11.9 is resisted on the locking dental lamina 2.11.10 of annular being mounted on check device bracket 2.11.5.And its is pre-
Clamp force can be adjusted by adjusting the screw 2.11.4 adjusting position baffle 2.11.7.
As shown in fig. 7, flexible cable is entered by check device entrance, drawn around the pulley on sliding block and by outlet.It solves soft
For rope driver in flexible cable relaxation, flexible cable winding is easy to appear the even stuck problem of dislocation.
When flexible cable 3 is in relaxed state, flexible rope tension can not overcome spring 2.11.2 along the component of lead rail axis 2.11.3
Pretightning force, flexible cable 3 will be against on the locking dental lamina 2.11.10 of annular by pulley 2.11.9, to prevent from moving inside Wire driven robot device 2,
Flexible cable 3 in fixed pulley module relaxes.When 3 tension of flexible cable is met the requirements, component of the rope tensility along lead rail axis 2.11.3
Overcome spring 2.11.2 pretightning force, pulley 2.11.9 is detached from the locking dental lamina 2.11.10 of annular, and flexible cable 3 can normal folding and unfolding fortune at this time
It is dynamic.
As shown in figure 8, the end emitter 4 is strip, the quadrangle position of the end emitter transverse ends
It sets and four retaining rings is respectively set, eight flexible cables 3 are fixedly connected with eight retaining ring one-to-one correspondence respectively.
As shown in figure 9, the end emitter includes ball storage tube 4.1, stator 4.3, mover 4.4, pick-and-place device, it is described
Ball storage tube 4.1 is mounted on the rear end of the stator, and 4.1 lower end of ball storage tube installation, one control loads the electronic pin A 4.2 of ball,
The mover 4.4 is driven by the power mechanism to be moved along the stator 4.3, and the pick-and-place device is mounted on the mover 4.4
Pick-and-place state above and with the motion state of mover 4.4 is adjusted, the ball mouth of the ball storage tube 4.1 corresponds to the pick-and-place device and sets
Set, on the metacoxal plate installation control mover folding and unfolding electronic pin B, it is described control mover folding and unfolding electronic pin B by with elasticity
The folding and unfolding of location hook cooperation control mover.
Specifically, ball storage tube 4.1 is bolted in 4.3 rear end of stator.Flexible by electronic pin A 4.2 loads
The ball 4.5 that need to emit.When electronic pin A 4.2 stretches out, the ball 4.5 in ball storage tube is blocked in cylinder.When electronic pin A 4.2 is packed up
When ball 4.5 fallen into the pick-and-place device on mover 4.4 by gravity.
As shown in Figure 10 and Figure 11, the stator includes main body, the preceding substrate 4.3.12, metacoxal plate that acrylic substrate is constituted
4.3.1, along mover moving direction installation electromagnetic coil sequence 4.3.7 on the body, the corresponding electromagnetic coil sequence
4.3.7, conductive copper plate 4.3.8, guiding axis 4.3.4, buffer spring 4.3.10 and three-level guide rail on the body is installed
4.3.14, the main body is fixed between the preceding substrate 4.3.12 and the metacoxal plate 4.3.1, and the mover 4.4 passes through pottery
Porcelain axle sleeve 4.4.4 is mounted on the guiding axis 4.3.4, and the mover is metal mover, installs brush on the mover 4.4
4.4.7, the brush 4.4.7 is contacted with the conductive copper plate 4.3.8, and the both ends of the guiding axis 4.3.4 are separately fixed at institute
Before stating on substrate 4.3.12 and the metacoxal plate 4.3.1, the both ends of the guiding axis 4.3.4 are mounted on buffer spring
4.3.10, the three-level guide rail 4.3.14 is mounted on the body side, and the pick-and-place device corresponds to the three-level guide rail
4.3.14 it is arranged to adjust pick-and-place state with the Orbit revolutionary of three-level guide rail.
Specifically, in the present embodiment, the main body is made of two pieces of zigzag shape acrylic board 4.3.9 docking, stator
A series of openings are provided in the middle part of acrylic substrate 4.3.9 to install electromagnetic coil sequence 4.3.7, furthermore acrylic substrate
4.3.9 upper lower edge is glued altogether 4 pieces of conductive copper plate 4.3.8.The conductive copper plate 4.3.8 being mounted on acrylic substrate 4.3.9
It is arranged in and is mounted between acrylic substrate 4.3.9 and electromagnetic coil sequence 4.3.7 with the conducting wire of electromagnetic coil sequence 4.3.7
Collect in spool 4.3.6.
There is the guiding axis 4.3.4 tapped by two fixed radicles of nut 4.3.2 in the midline of front-back baseboard.
It is also covered respectively on the guiding axis 4.3.4 on the inside of the end plate of front and back by two groups of totally four spring 4.3.10, to realize to mover
4.4 deceleration and energy stores.
As shown in figure 12, the pick-and-place device includes insulator foot, handgrip, follower lever, and the insulator foot is fixed on institute
State on mover, the handgrip includes that the elastic body that constitutes of torsional spring and pin shaft promotes the handgrip to be unfolded outward always, it is described from
The lower end of lever is slidably matched with the three-level guide rail, and the middle part of the follower lever passes through the pilot hole on the insulator foot,
The top of the follower lever abuts the outside of the handgrip.
Specifically, insulator foot 4.4.2 is fixed on I-shaped metal mover 4.4.5 by screw 4.4.1, two driven
The pilot hole that bar 4.4.8 is each passed through on insulator foot 4.4.2 is mounted on insulator foot, and follower lever 4.4.8 passes through bottom end
Gap is connected on the three-level guide rail 4.3.14 of stator, and the handgrip is mounted on insulator foot two sides by pin shaft 4.4.15, and
It makes the outside of handgrip 4.4.11 be in contact always at the top of follower lever 4.4.8 by torsional spring 4.4.9 effect.
The concrete shape of handgrip can be switched over according to ball difference.
The top the 4.3.9 two sides of the acrylic substrate have two to be mounted on the upper of front and back end plate by screw 4.3.13
Three-level guide rail 4.3.14, to drive the movement of mover Yu pick-and-place device 4.4.
As shown in Figure 13 a, Figure 13 b, Figure 13 c, the three-level guide rail includes the initial segment A, accelerating sections B and releasing section C, described
The initial segment is lower than the accelerating sections, and the releasing section is lower than the initial segment, the initial segment, the accelerating sections and the release
Duan Yici smooth transition.
Opened slightly at follower lever 4.4.8 and the driving of torsional spring 4.4.9 in A sections of handgrip 4.4.11, with facilitate ball 4.5 from
Ball storage tube 4.1 is loaded to insulator foot 4.4.2, and ball 4.5 is avoided to roll out in front of insulator foot 4.4.2.
As mover 4.4 is moved to B sections, follower lever 4.4.8 since the change in shape of three-level guide rail 4.3.14 moves upwards,
Handgrip 4.4.11 is started to close up by the driving of follower lever 4.48, and ball 4.5 is fixed in insulator foot 4.4.2.
As mover 4.4 moves to the C section of 4.3 front end of stator.Three-level guide rail 4.3.14 drives follower lever 4.4.8 to moving down
Dynamic, handgrip 4.4.11 opens.Ball 4.5 no longer can be detached from insulator foot 4.4.2 by handgrip 4.4.11 constraint and be moved forward at this time.
As shown in figure 14, the end emitter structure chart under shuttlecock state is changed to for handgrip.
The course of work：By external control system, the state of eight flexible cables of real-time control is soft by eight for flexible cable robot
Transmitting position, pitch angle and the yaw angle of the state adjustment control end emitter of rope, to reach flexible and changeable instruction
Practice purpose.
Service is realized by following steps：
Loading stage：Mover is moved to stator rear end manually, and electronic pin B stretches out, and the flexibly positioned hook on stator is from electronic
The lower section of pin B passes through, and catching with electronic pin B by springing back.Handgrip is slightly opened by follower lever driving.Subsequent electronic pin A
It acts, the lowermost ball falls into handgrip by gravity in ball storage tube.The spring for being oriented to shaft end at this time is in compressive state.
Discharge stator and boost phase：Conductive copper plate is initially powered up with electromagnetic coil, and mover is unclamped in electronic pin B release.Bullet
Spring gives mover with an initial velocity, and acceleration of the electric current on mover in electromagnetic coil magnetic field by Lorentz force starts forward
It is mobile.As mover is moved at B sections of three-level guide rail, follower lever starts that handgrip is driven to firmly grasp ball, and ball is accelerated forwardly together with mover
Movement.
Transmitting and decelerating phase：When mover is C sections of three-level guide rail mobile, follower lever starts that handgrip is driven to open, and moves at this time
Son starts to compress the spring on the guiding axis of front end and deceleration, and the disappearance and effect of inertia that ball constrain due to handgrip continue to transport forward
Dynamic, so far ball is launched away.
The backhaul stage：After ball is released out, mover continues to compress the deceleration of stator front springs, opens after speed is reduced to zero
Beginning counter motion exchanges the positive and negative anodes of the conductive copper plate of stator acrylic substrate top and lower part at this time, accelerates mover reversely
Movement, is back to stator end, or manually control it and return to end, starts again at loading stage.
Finally it should be noted that:The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (8)
1. a kind of dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock, it is characterised in that：It includes four and is distributed in ball
Wire driven robot device, eight flexible cables and an end emitter for field quadrangle, the Wire driven robot device include pedestal, difference
Column, a pair of of Wire driven robot device and the top pulleys for being mounted on column top being mounted on the base, each Wire driven robot device
It is all connected with the flexible cable, in two flexible cables by the driving of same Wire driven robot device, one is directly connected to the end hair
Injection device, another around the end emitter is connected after the top pulleys, the end emitter is by eight institutes
State flexible cable control position and launch angle；The end emitter includes ball storage tube, stator, mover, pick-and-place device and control
The electronic pin B of mover folding and unfolding, the ball storage tube are mounted on the rear end of the stator, and one control of ball storage tube lower end installation loads
The electronic pin B of the electronic pin A of ball, the control mover folding and unfolding control the folding and unfolding of mover by cooperating with flexibly positioned hook, described
Mover is driven by the power mechanism to be moved along the stator, and the pick-and-place device is mounted on the mover and with the fortune of mover
Dynamic state adjusts pick-and-place state, and the ball mouth of the ball storage tube corresponds to the pick-and-place device setting；The stator includes acrylic
Main body that substrate is constituted, preceding substrate, metacoxal plate, along mover moving direction installation electromagnetic coil sequence on the body, right
Answer conductive copper plate, guiding axis, buffer spring and the three-level guide rail of the electromagnetic coil sequence installation on the body, the master
Body is fixed between the preceding substrate and the metacoxal plate, and the mover is mounted on the guiding axis by Ceramic shaft sleeve, institute
Stating mover is metal mover, installs brush on the mover, and the brush is contacted with the conductive copper plate, the two of the guiding axis
End is separately fixed on the preceding substrate and the metacoxal plate, and the both ends of the guiding axis are mounted on buffer spring, described
Three-level guide rail is mounted on the body side, and the pick-and-place device corresponds to the three-level guide rail and is arranged so as to three-level guide rail
Orbit revolutionary and adjust pick-and-place state.
2. the dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock according to claim 1, it is characterised in that：It is described
Wire driven robot device includes substrate, servo motor, driving mechanism, sliding slot, movable pulley module and fixed pulley module composition, the dynamic cunning
Pulley is respectively mounted in wheel module and the fixed pulley module and constitutes pulley blocks, and one end of the flexible cable is fixed on the substrate
On, the pulley blocks are then passed around, the movable pulley module is mounted in the sliding slot, and the servo motor passes through the driving
Mechanism drives the movable pulley module to move along the sliding slot.
3. the dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock according to claim 2, it is characterised in that：It is described
Flexible cable check device is also equipped on substrate, the flexible cable check device includes check device bracket, limit roller, lead rail axis, pressure spring, cunning
Block, contact roller and the locking dental lamina of annular and adjusting screw, the inlet and outlet of the check device are mounted on a pair of of limit roller,
The lead rail axis is mounted on the check device bracket, and the sliding block is mounted in the lead rail axis, and the contact roller is mounted on
On the sliding block, the locking dental lamina of annular corresponds to the contact roller and is mounted on the check device bracket, the pressure spring suit
In the lead rail axis and drive the sliding block mobile so that the contact roller is always abutted with the locking dental lamina of annular, it is described
The pressure of pressure spring can be adjusted by the adjusting screw, and the flexible cable successively passes through a pair of of the limit roller, institute of entrance
State a pair of of limit roller in contact roller and exit.
4. the dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock according to claim 2 or 3, it is characterised in that：
The end emitter is strip, and four retaining rings are respectively set in the corner location of the end emitter transverse ends,
Eight flexible cables are fixedly connected with eight retaining ring one-to-one correspondence respectively.
5. the dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock according to claim 4, it is characterised in that：It is described
Pick-and-place device includes insulator foot, handgrip, follower lever, and the insulator foot is fixed on the mover, and the handgrip includes turning round
The elastic body that spring and pin shaft are constituted promotes the handgrip to be unfolded outward always, the lower end of the follower lever and the three-level guide rail
It is slidably matched, the middle part of the follower lever passes through the pilot hole on the insulator foot, described in the top of the follower lever abuts
The outside of handgrip.
6. the dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock according to claim 5, it is characterised in that：It is described
Three-level guide rail includes the initial segment, accelerating sections and releasing section, and the initial segment is lower than the accelerating sections, and the releasing section is lower than described
The initial segment, the initial segment, the accelerating sections and the releasing section successively smooth transition.
7. the dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock according to claim 2, it is characterised in that：It is described
Driving structure include a pair of of the grinding tooth wheel for connecting the servo motor output shaft, by this to the synchronous belt being driven after grinding tooth wheel deflecting
Mechanism, a pair of of the steel wire reel being driven by the synchronous belt mechanism and the steel wire being wound around on a pair of steel wire reel, it is described dynamic
Pulley module is connect with the fixation with steel wire.
8. the dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock according to claim 4, it is characterised in that：It is described
Main body is made of two pieces of zigzag shape acrylic board docking, and a series of openings, the electromagnetic wire are opened up in the middle part of the acrylic board
Circle sequence is sequentially arranged in the opening, and the upper lower edge of the acrylic board is glued 4 pieces of conductive copper plates, the conduction altogether
Copper sheet and the conducting wire of the electromagnetic coil sequence are arranged in the collection spool in the middle part of the acrylic board, and the mover is I-shaped
Mover, the corresponding 4 pieces of conductive copper plates in the sides of the mover upper and lower ends install 4 brushes, the preceding substrate and it is described after
2 guiding axis are installed, corresponding 2 guiding axis of the upper and lower ends of the I-shaped mover open up two pilot holes, institute between substrate
Ceramic shaft sleeve is stated to be mounted in the pilot hole.
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| CN201710414910.8A CN107137895B (en) | 2017-06-05 | 2017-06-05 | A kind of dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock |
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| CN201710414910.8A CN107137895B (en) | 2017-06-05 | 2017-06-05 | A kind of dual-purpose supplemental training robot of Wire driven robot tennis shuttlecock |
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| CN107137895B true CN107137895B (en) | 2018-11-27 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108079564A (en) * | 2017-12-20 | 2018-05-29 | 宁波布莱威尔产品设计有限公司 | The single training place of elastic plug shuttlecock |
| CN108079563A (en) * | 2017-12-20 | 2018-05-29 | 宁波布莱威尔产品设计有限公司 | A kind of automatic launching site of elastic plug shuttlecock |
| CN108096818A (en) * | 2017-12-20 | 2018-06-01 | 宁波布莱威尔产品设计有限公司 | Elastic plug badminton net ball switching field |
| CN108031105A (en) * | 2017-12-20 | 2018-05-15 | 宁波布莱威尔产品设计有限公司 | A kind of body cradle Pop-up switching field |
| CN108031104A (en) * | 2017-12-20 | 2018-05-15 | 宁波布莱威尔产品设计有限公司 | The single conversion court of elastic plug |
| CN108079562A (en) * | 2017-12-20 | 2018-05-29 | 宁波布莱威尔产品设计有限公司 | Elastic plug badminton net ball launching site |
| CN107998648A (en) * | 2017-12-20 | 2018-05-08 | 宁波布莱威尔产品设计有限公司 | A kind of inflatable shuttlecock training place |
| CN108096819A (en) * | 2017-12-20 | 2018-06-01 | 宁波布莱威尔产品设计有限公司 | Elastic plug converts court |
| CN108168431A (en) * | 2017-12-29 | 2018-06-15 | 思博赛睿（北京）科技有限公司 | A kind of tennis robot positioning system of view-based access control model identification and method |
| CN112973077A (en) * | 2021-04-01 | 2021-06-18 | 重庆三峡学院 | Basketball shooting training device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7753642B2 (en) * | 2007-09-06 | 2010-07-13 | Ohio University | Apparatus and method associated with cable robot system |
| CN101602209B (en) * | 2009-07-09 | 2011-06-22 | 北京航空航天大学 | Reconfigurable cable-driven parallel manipulator and driving device thereof |
| CA2840688A1 (en) * | 2014-01-28 | 2015-07-28 | Terrance Gordon Gregory | Rock curling machine |
| CN104383670B (en) * | 2014-07-15 | 2016-10-12 | 广州大学 | A kind of intelligent robot that can automatically launch table tennis |
| CN204671863U (en) * | 2015-02-28 | 2015-09-30 | 河南科技学院 | A kind of novel badminton automatic ball tossing |
| KR101842549B1 (en) * | 2016-08-01 | 2018-05-14 | 전남대학교산학협력단 | A cable robot for an agricultural multipurpose |
| CN106730717A (en) * | 2016-12-19 | 2017-05-31 | 绍兴凯健科技有限公司 | A kind of badminton companion trainer device people |
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