CN108499080B

CN108499080B - Wide-angle intelligent service robot for table tennis

Info

Publication number: CN108499080B
Application number: CN201810389289.9A
Authority: CN
Inventors: 不公告发明人
Original assignee: Rudong Daobo Intelligent Equipment Co Ltd
Current assignee: Rudong daobo Intelligent Equipment Co., Ltd
Priority date: 2018-04-26
Filing date: 2018-04-26
Publication date: 2020-11-24
Anticipated expiration: 2038-04-26
Also published as: CN108499080A

Abstract

The invention belongs to the field of sports equipment, and particularly discloses a wide-angle intelligent service robot for table tennis, which comprises a base frame, a ball driving disc, a service ring, a service motor, a ball distributing mechanism, a ball conveying part and a controller. A ball inlet hole, a ball sliding channel and a ball driving part are arranged in the ball driving disc, and the ball driving disc is suitable for a table tennis to slide to the edge part from the ball inlet hole to be launched; the ball-serving ring is internally provided with a chute matched with the ball-driving part, and the edge of the ball-serving ring is provided with a ball-serving tube. The ball distributing mechanism is assembled in the ball driving disc and distributes and blocks the table tennis. The ball driving disc is assembled in the ball serving ring and fixed through a bearing by the shaft connecting part and two support frames of the base frame, and the ball driving disc rotates relative to the ball serving ring. The ball conveying pipeline of the ball conveying part is communicated with the shaft connecting part, and table tennis balls are conveyed into the ball inlet hole through the shaft connecting part. The operation device operates the service robot to adjust the longitudinal and transverse launching angles of the table tennis and the launching speed of the table tennis, the service angle of the table tennis is wide, the service mode is complex, the training difficulty is high, and the training requirements of different levels and different personnel are met.

Description

Wide-angle intelligent service robot for table tennis

Technical Field

The invention relates to a service robot, in particular to a wide-angle intelligent service robot for table tennis, which is suitable for table tennis training and belongs to the field of sports equipment.

Background

In order to meet the requirements of table tennis hitting training, a table tennis serving machine appears in the market. Through table tennis service robot, the user does not need the professional to accompany the training, though can relapse, the training is hit in the acquisition of multi-angle, but the scope of the ball launch angle of current table tennis service robot is narrower, launch height is limited, the ball trajectory change is few, and the placement position is single, the training degree of difficulty is low, can't obtain the exercise of hitting of manifold table tennis, can't satisfy different levels, different personnel's training demand, and intelligent level is lower, need manual regulation in the use, with adjustment service robot mode. Therefore, it is desirable to develop a wide-angle intelligent service robot for table tennis to overcome the problems in the prior art.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides the wide-angle intelligent table tennis ball serving machine, the built-in controller controls the ball serving machine to adjust the transverse launching angle, the longitudinal launching angle and the launching speed of table tennis balls, the launching mode is changed at multiple ends, and the wide-angle intelligent table tennis ball serving machine is suitable for the training requirements of different people.

The technical scheme of the wide-angle intelligent service robot for table tennis is as follows.

A wide angle table tennis intelligence service robot includes: the base frame is a bearing foundation of the pitching machine; the pedestal at least comprises a pedestal body, a supporting seat and a driving motor; the supporting seat comprises a disc-shaped base, vertically arranged supporting frames and a 1 st driving shaft, and the bottom end parts of the two supporting frames are respectively fixed with the left and right opposite side sides of the base; the 1 st driving shaft is vertically arranged, the upper end part of the 1 st driving shaft is fixed with the central part of the base and is positioned below the base; the supporting seat is attached to the base frame body through a thrust bearing, and the No. 1 driving shaft is assembled with the base frame body shaft; the driving motor is connected with the 1 st driving shaft through the speed reducer, and the driving support seat rotates around the 1 st driving shaft relative to the base frame body and is suitable for adjusting the transverse launching angle of the table tennis;

the ball driving disc is suitable for conveying and accelerating table tennis; the center part of the ball driving disc is provided with a ball inlet hole suitable for inputting table tennis balls, a radial ball sliding channel is arranged in the ball driving disc, and a ball driving part is positioned at the tail end of the ball sliding channel; the side of the surface of the ball driving part contacted with the table tennis is convexly bent towards the direction of the table tennis to form an arc shape;

the serving ring is suitable for adjusting the launching angle of the table tennis in the longitudinal direction; the serving ring comprises a circular serving ring body and a serving pipe, wherein the inner surface of the serving ring body is provided with a chute which is matched with the ball driving part and is suitable for table tennis to slide, and the chute surrounds the inner surface of the serving ring body 31 for a circle; the edge of the serving ring body 31 is provided with a serving tube 32 which is tangent to the chute of the serving ring body and is suitable for table tennis flying and launching; the ball driving disc is assembled in the ball serving ring body and matched with the ball serving ring body in a coaxial manner, and a ball driving part 23 of the ball driving disc 20 extends into the sliding groove;

the service motor is suitable for adjusting the launching speed and the launching angle of the table tennis; the ball serving motor comprises a ball driving motor for driving the ball driving disc to rotate so as to adjust the launching speed of the table tennis, and a ball control motor for driving the ball serving ring to rotate so as to adjust the launching angle of the table tennis in the longitudinal direction;

the ball distributing mechanism is arranged opposite to the input port of the ball sliding channel 22 and at least comprises an electromagnetic driver, a distributing stop lever and a limiting sliding sleeve; the electromagnetic driver 51 and the limiting sliding sleeve 53 are sequentially fixed in the ball driving disc 20 and are positioned on the opposite side of the input port of the sliding ball channel 22; an output shaft of the electromagnetic driver is fixedly connected with one end of the distribution stop lever, and the other end of the distribution stop lever penetrates through the limiting sliding sleeve and extends into the ball inlet hole, so that the electromagnetic driver is suitable for pushing a table tennis into the sliding ball channel and stopping the next table tennis in the ball inlet hole;

the ball feeding part is suitable for storing and conveying table tennis balls and comprises a ball hopper body for storing the table tennis balls and a ball conveying pipeline suitable for conveying the table tennis balls to the ball inlet;

the shaft connecting part is suitable for connecting the ball driving disc and the ball serving ring with the support frame shaft; the shaft connecting part comprises a driving shaft 71, a 1 st coupling, a 1 st tubular shaft, a 2 nd coupling, a driven tubular shaft 75, a 3 rd coupling, a 2 nd tubular shaft and a 4 th coupling; the driving shaft 71 is fixed and coaxially matched with one side of the ball driving disc through a 1 st coupling, and the 1 st tubular shaft is fixed and coaxially matched with one side of the ball serving ring through a 2 nd coupling; the 1 st tubular shaft is sleeved outside the driving shaft and fixed through a bearing, and the 1 st tubular shaft rotates relative to the driving shaft; the driven tubular shaft 75 is fixed and coaxially matched with the other side of the ball driving disc through a 3 rd coupling, the 2 nd tubular shaft is fixed and coaxially matched with the other side of the ball serving ring through a 4 th coupling, and the 2 nd tubular shaft is sleeved outside the driven tubular shaft and fixed through a bearing; the driving shaft 71 and the driven tubular shaft 75 are respectively connected with a top movable shaft of the support frame and can rotate relative to the support frame; an output shaft of the ball driving motor is connected with a driving shaft to drive the ball driving disc to rotate; an output shaft of the ball control motor is connected with the No. 2 tubular shaft to drive the ball serving ring to rotate; the lower end part of the ball conveying pipeline is communicated with the driven tubular shaft;

the controller is suitable for controlling the service robot to launch table tennis balls; and the driving motor, the ball serving motor and the electromagnetic driver of the ball distributing mechanism are respectively electrically connected with the controller.

In the implementation and application process, the invention also has the following further optional technical scheme.

Optionally, the intelligent pitching machine further comprises wheels, and the wheels are at least composed of a rear left wheel and a rear right wheel which are arranged on the rear side of the base frame body, and a front left wheel and a front right wheel which are arranged on the front side of the base frame body.

Optionally, the inner surfaces of the ball serving tube and the chute in the serving ring body are respectively coated with a teflon coating.

Alternatively, the driving shaft 71 is fixed to the top end portion of the left support frame on the left side through a bearing and a bearing seat, and the driving shaft is rotatable around the axis of the driving shaft relative to the left support frame; the driven tubular shaft 75 is fixed to the top end of the right support frame on the right side via a bearing and a bearing seat, and is rotatable about its axis with respect to the right support frame.

Optionally, the dispensing stop lever is in sliding fit with the limiting sliding sleeve to form a sliding pair.

Optionally, the ball driving motor is a variable frequency motor, and the ball driving motor is electrically connected with the controller through a frequency converter.

Optionally, the ball control motor is a stepping motor, and the ball control motor is electrically connected with the controller through a stepping driver.

Optionally, the driving motor is a stepping motor, and the driving motor is electrically connected to the controller through a stepping driver.

Optionally, the output shaft of the ball control motor is connected with the No. 2 tubular shaft through a chain wheel mechanism or a gear mechanism shaft.

Compared with the prior art, the invention has the beneficial effects that: the controller operation supporting seat rotates for the bed frame body and adjusts the table tennis at horizontal launch angle, the operation drives the transmission speed that the table tennis was adjusted to ball disc adjustment rotational speed, the operation is served the ball ring and is rotated and adjust the launch angle of table tennis at fore-and-aft launch angle, make the launch angle of the table tennis of service car transmission, speed, the landing point has the randomness, service car launch mode changes the multiterminal, launch angle's variation range is big, launch altitude variation is various, the ball orbit is changeable various, landing point position distribution is random, true service mode has been simulated better, the training degree of difficulty is great, different levels have been satisfied, different personnel's training demand.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a wide-angle table tennis intelligent service robot in an embodiment.

Fig. 2 is a structural schematic diagram of the assembled ball driving disc and the assembled ball serving ring.

Fig. 3 is a schematic structural view of the base frame body.

FIG. 4 is a schematic cross-sectional view of the pitching machine C-C shown in FIG. 1.

Fig. 5 is a partially enlarged schematic view of part AA in fig. 4.

Fig. 6 is a schematic structural view of the base frame.

Fig. 7 is a functional block diagram of the control principle of the controller.

Wherein, 10-pedestal, 11-pedestal body, 12-wheel, 121-rear left wheel, 122-rear right wheel, 123-front left wheel, 123-front right wheel, 13-driving motor, 14-support seat, 141-base, 142-left support frame, 143-right support frame, 20-ball-driving disk, 21-ball-inlet hole, 22-ball-sliding channel, 23-ball-driving part, 30-ball-sending ring, 31-ball-sending ring body, 32-ball-sending pipe, 40-ball-sending motor, 41-ball-driving motor, 42-ball-controlling motor, 50-ball-separating mechanism, 51-electromagnetic driver, 52-ball-separating stop lever, 53-limit sliding sleeve, 60-ball-sending part, 61-ball bucket body, 62-ball-conveying pipeline, 70-shaft connecting part, 71-drive shaft, 72-1 st coupling, 73-1 st tubular shaft, 74-2 nd coupling, 75-driven tubular shaft, 76-3 rd coupling, 77-2 nd tubular shaft, 78-4 th coupling, 80-controller.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the movement, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly.

As an embodiment of the present invention, a wide-angle table tennis intelligent service machine, as shown in fig. 1 to 7, includes a base frame 10, a ball driving disc 20, a service ring 30, a service motor 40, a ball distributing mechanism 50, a ball feeding part 60, a shaft connecting part 70, and a controller 80. The base frame 10 includes a base frame body 11 and a support base 14 which are assembled by shaft fitting, and left and right opposite sides of the support base 14 are respectively provided with a left support bracket 142 and a right support bracket 143 which are arranged in an upright direction, as shown in fig. 4 and 6. The ball driving disc 20 is internally provided with a ball inlet 21, a ball sliding channel 22 and a ball driving part 23 which are connected in sequence, and is suitable for table tennis to slide to the ball driving part 23 through the ball inlet 21 and the ball sliding channel 22 and to be accelerated at the ball driving part 23 to be launched. The ball distributing mechanism 50 is assembled inside the ball driving disc 20, and one end of the distributing stop lever 52 of the ball distributing mechanism 50 extends into the ball inlet hole 21 and is suitable for pushing a table tennis ball into the ball sliding channel 22 and stopping the next table tennis ball to be pushed into the ball inlet hole 21. The shaft connecting portion 70 is constituted by an inner shaft and an outer shaft which are fitted in a nested manner and are coaxial. The ball driving disk 20 is assembled inside the ball serving ring 30, the ball driving disk 20 and the ball serving ring 30 are respectively assembled and fixed with an inner shaft and an outer shaft of the shaft connecting part 70, the ball driving disk 20, the ball serving ring 30 and the shaft connecting part 70 are coaxial, the ball driving disk 20 can rotate around the axis of the ball serving ring 30 relative to the ball serving ring 30, and it is understood that the ball driving disk 20 is movably connected with the ball serving ring 30 and can relatively rotate around the axis between the two. The inner shaft driven tubular shaft 75 of the shaft connecting portion 70 on the right side communicates with the ball inlet hole 21 provided in the ball driving disc 20, as shown in fig. 4 and 5, and is suitable for table tennis input. The two ends of the shaft connecting part 70 are respectively fixedly connected with the top parts of the left and right supporting frames through bearings and bearing seats. The ball feeding part 60 is fixed to the support base 14, and the lower end of the ball conveying pipe 62 of the ball feeding part 60 is communicated with the driven tubular shaft 75 of the shaft connecting part 70, as shown in fig. 5, so that the table tennis ball feeder is suitable for conveying table tennis balls into the ball inlet 21 through the ball conveying pipe 62 and the shaft connecting part 70. The service motor 40 comprises a ball driving motor 41 and a ball control motor 42; the ball driving motor 41 is connected with the inner shaft driving shaft 71 on the left side of the shaft connecting part 70 in a shaft connecting way and is used for driving the ball driving disc 20 to rotate and accelerating the table tennis to be launched; the ball control motor 42 is connected with the outer shaft No. 2 tubular shaft 77 on the right side of the shaft connecting part 70 through a speed reducer, drives the ball serving ring 30 to rotate, and adjusts the launching angle of the table tennis in the longitudinal direction. A driving motor 13 arranged in the base frame 10 drives the supporting seat 14 to rotate relative to the base frame body 11, so as to adjust the transverse launching angle of the table tennis.

The base frame 10 is a bearing base of the pitching machine and is suitable for adjusting the transverse launching angle of the table tennis. As shown in fig. 4 and 6, the base frame 10 is at least composed of a base frame body 11, a support base 14, and a driving motor 13. The supporting base 14 includes a base 141 in a disc shape, supporting frames arranged vertically, and a 1 st driving shaft 15, as shown in fig. 4, bottom end portions of the two supporting frames are respectively fixed to left and right opposite side sides of the base 141 to form a left supporting frame 142 located on the left side and a right supporting frame 143 located on the right side, and the left supporting frame 142 and the right supporting frame are used for bearing the ball driving disc 20 and the ball serving ring 30, that is, the supporting frames include the left supporting frame 142 and the right supporting frame 143. The 1 st driving shaft 15 is vertically installed, an upper end portion of the 1 st driving shaft 15 is fixed to a central portion of the base 141 and positioned below the base 141, and the 1 st driving shaft 15 is perpendicular to the base 141. The supporting seat 14 is attached to the base frame body 11 through a thrust bearing, it can be understood that the lower end face of the supporting seat 14, the thrust bearing, and the top end face of the base frame body 11 are sequentially attached, and the 1 st driving shaft 15 and the base frame body 11 are assembled and fixed through shaft connection. The driving motor 13 is connected with the 1 st driving shaft 15 through a speed reducer, and the driving support seat 14 rotates around the 1 st driving shaft 15 relative to the base frame body 11 and is suitable for adjusting the transverse launching angle of the table tennis. The base frame 10 is provided with wheels 12 to facilitate movement of the pitching machine. The number of the wheels 12 is 4, and as shown in fig. 3, the wheels include a rear left wheel 121 disposed at the rear side (lower side in fig. 3) of the base frame body 11, a rear right wheel 122 disposed at the rear side of the base frame body 11, a front left wheel 123 disposed at the front side (upper side in fig. 3) of the base frame body 11, and a front right wheel 124 disposed at the front side of the base frame body 11. The ball-launching side of the pitching machine is understood to be the front side of the pitching machine, which is also the front side of the base frame body 11. The driving motor 13 drives the supporting base 14 of the base frame 10 to rotate along a horizontal plane, such as the ball serving pipe 32 of the ball serving ring 30 to move leftwards or rightwards (in the orientation of fig. 3), so as to adjust the transverse launching angle of the table tennis balls launched by the ball serving machine. The transverse launching angle of the table tennis can be freely adjusted within the range of 0-180 degrees, wherein the 0 and 180 degrees correspond to the horizontal launching of the table tennis, if the table tennis is launched leftwards and rightwards as shown in figure 3, the pitching machine has a wide-angle transverse launching angle, and has any one of the 0-180 degrees in the horizontal direction. According to the requirement, the supporting seat 14 of the base frame 10 can be operated to rotate in the range of 0-360 degrees along the horizontal plane, and the pitching machine can shoot the table tennis balls in all directions. The pitching machine is suitable for simultaneous training of multiple persons.

The ball driving disc 20 is suitable for inputting table tennis balls and accelerating the table tennis balls, and is a ball distributing and accelerating mechanism for the table tennis balls. The ball driving disc 20 is in a disc-shaped structure, a ball inlet hole 21 suitable for inputting table tennis is arranged at the center of the ball driving disc 20, the ball inlet hole 21 is a blind hole, namely the left side is closed, as shown in fig. 4, a ball sliding channel 22 distributed along the radial direction and a ball driving part 23 positioned at the tail end of the ball sliding channel 22 are arranged inside the ball driving disc 20; the ball sliding passage 22 is a straight passage arranged along the radial direction and suitable for table tennis to pass through, as shown in fig. 2, the ball sliding passage 22 is communicated with the ball inlet hole 21, and is suitable for table tennis to be input from the ball inlet hole 21, roll to the position of the ball driving part 23 through the ball sliding passage 22, and be accelerated at the position of the ball driving part 23 to be launched. The side of the surface of the ball driving part 23 contacted with the table tennis is convexly bent towards the table tennis direction to form an arc shape, such as an arc shape, and the arc-shaped structure of the ball driving part 23 is beneficial to the table tennis to slide towards the service ring 30, reduces the energy loss of ball launching, improves the service speed and avoids the ball from being stuck.

Wherein, the ball serving ring 30 is suitable for launching the table tennis and adjusting the launching angle of the table tennis in the longitudinal direction. As shown in fig. 1 and 2, the serving ring 30 is composed of a serving ring body 31, and the serving ring body 31 has a ring shape. The inner surface of the serving ring body 31 is provided with an arc chute suitable for table tennis to slide, the chute is matched with the ball driving part 23 of the ball driving disc 20 and can accommodate the ball driving part 23, and the chute surrounds a circle along the inner surface of the serving ring body 31. The edge of the serving ring body 31 is provided with a serving tube 32 which is suitable for table tennis to be emitted. The service pipe 32 is tangent to the sliding groove, so that the table tennis is easier to launch, the energy loss during the period that the table tennis slides out of the sliding groove and enters the service pipe 32 is reduced, and the table tennis is kept at a higher launching speed. The sliding groove on the inner surface of the serving ring body 31 is matched with the ball driving part 23 of the ball driving disc 20, and the ball driving part 23 is positioned in the sliding groove to push the table tennis to slide in the sliding groove to be launched outwards. The ball driving disc 20 is arranged inside the ball serving ring 30, the ball driving disc 20 and the ball serving ring 30 are respectively assembled and fixed with an inner shaft and an outer shaft of the shaft connecting part 70, the ball driving disc 20, the ball serving ring 30 and the shaft connecting part 70 are coaxial, the ball driving disc 20 can rotate around the axis of the ball serving ring 30 relative to the ball serving ring 30, and it is understood that the ball driving disc 20 and the ball serving ring 30 are connected through a movable shaft, and can rotate around the axis relatively to adjust the launching speed and the launching angle of the table tennis in the longitudinal direction. The longitudinal launching angle of the table tennis ball can be freely adjusted between 0 and 90 degrees, the 0 degree corresponds to forward launching along the horizontal direction (the upper side shown in figure 3), and the 90 degree corresponds to upward launching along the vertical direction, so that the pitching machine has a wide-angle launching angle in the longitudinal direction. Further, according to the training requirement, the ball control motor 42 can be controlled to drive the ball serving ring 30 to rotate, so that the 0-180-degree omnibearing launching angle is realized. The launching angle of the table tennis ball in the longitudinal direction is freely adjusted by 0-180 degrees, the randomness is strong, the launching angle is variable and cannot be predicted, the ball launching mode is more complex, and the training requirements of people at different levels are met. Furthermore, the surface of the chute in the serving ring body 31 and the inner surface of the serving tube 32 are respectively coated with a teflon coating, which is beneficial to the successful launching of the table tennis, and reduces the energy loss during the sliding of the table tennis into the serving tube 32 from the chute, so that the table tennis can be kept at a higher launching speed.

Wherein, the service motor 40 is suitable for driving the table tennis to accelerate and launch. The service motor 40, as shown in fig. 4, includes a ball driving motor 41 and a ball control motor 42. The ball driving motor 41 is used for driving the ball driving disc 20 to rotate, so as to accelerate the table tennis to adjust the launching speed of the table tennis; the ball control motor 42 is used for driving the ball serving ring 30 to rotate so as to adjust the launching angle of the table tennis ball in the longitudinal direction. The ball driving motor 41 is a variable frequency motor, the ball driving motor 41 is electrically connected with the controller 80 through a frequency converter, and feeds back a rotating speed signal to the controller 80, and the controller 80 calculates the launching speed of the table tennis ball based on the rotating speed signal and adjusts the rotating speed of the ball driving motor 41. The ball control motor 42 is a stepping motor, the ball control motor 42 is electrically connected with the controller 80 through a stepping driver, and feeds back an angular displacement signal to the controller 80, and the controller 80 calculates the launching angle of the table tennis ball in the longitudinal direction based on the angular displacement signal.

Wherein, the ball distributing mechanism 50 is adapted to block and control the table tennis balls in the ball inlet holes 21 to enter the ball sliding way 22. The ball distributing mechanism 50, as shown in fig. 2 and 4, includes an electromagnetic actuator 51, a distributing bar 52, and a limiting sliding sleeve 53. The ball distributing mechanism 50 is mounted inside the ball driving disk 20, directly opposite to the input port of the ball sliding way 22. The electromagnetic driver 51 is fixed with the ball driving disc 20, and the limiting sliding sleeve 53 is fixed with the ball driving disc 20 and is positioned at the opposite side of the input port of the sliding ball channel 22. An output shaft of the electromagnetic driver 51 is fixedly connected with one end part of the distribution stop lever 52, and the other end of the distribution stop lever 52 penetrates through the limiting sliding sleeve 53 and extends into the ball inlet hole 21, so that the table tennis ball is pushed into the sliding ball channel 22 and the next table tennis ball is stopped in the ball inlet hole 21, the phenomenon that a plurality of table tennis balls are stuck at the position of the ball serving pipe 32 when being input into the sliding ball channel 22 is avoided, the ball serving frequency is controlled, and the training requirement is met. The dispensing stop lever 52 and the limiting sliding sleeve 53 form a sliding pair to limit the dispensing stop lever 52 and prevent it from swinging due to the impact of table tennis.

Wherein, the ball sending part 60 is suitable for storing and sending table tennis balls. The ball feeding part 60 includes a ball bucket body 61 and a ball conveying pipe 62. The ball bucket body 61 is used for storing table tennis balls, as shown in fig. 4, the ball conveying pipe 62 is vertically arranged, the upper end part of the ball conveying pipe 62 is communicated with the bottom of the ball bucket body 61, and the lower end part is communicated with the ball inlet hole 21 inside the ball driving disc 20 through the driven tubular shaft 75 of the shaft connecting part 70, so as to convey the table tennis balls into the ball inlet hole 21, that is, the table tennis balls in the ball bucket body 61 are conveyed into the ball inlet hole 21 of the ball driving disc 20.

The shaft connecting part 70 is adapted to connect the ball driving disc 20 and the ball serving ring 30 with the support frame of the support seat 14. The shaft connecting portion 70 includes a 1 st shaft connecting portion on the left side and a 2 nd shaft connecting portion on the right side, as shown in fig. 4 and 5. The 1 st shaft connecting part is composed of at least a driving shaft 71, a 1 st coupling 72, a 1 st tubular shaft 73 and a 2 nd coupling 74; the 2 nd shaft connecting portion is constituted by at least a driven tubular shaft 75, a 3 rd coupling 76, a 2 nd tubular shaft 77, and a 4 th coupling 78. The driving shaft 71 is fixed and coaxially matched with the left side of the ball driving disc 20 through a 1 st coupling 72, as shown in fig. 5, the 1 st tubular shaft 73 is fixedly connected and coaxially matched with the left side of the ball serving ring 30 through a 2 nd coupling 74; the 1 st tubular shaft 73 is sleeved outside the driving shaft 71 and fixedly connected through a bearing, the bearing is positioned between the 1 st tubular shaft 73 and the driving shaft 71, and the 1 st tubular shaft 73 rotates relative to the driving shaft 71; the drive shaft 71, the 1 st coupling 72, the 1 st tubular shaft 73, the 2 nd coupling 74 and the bearings which are fitted together constitute the 1 st shaft connecting portion described above. The driven tubular shaft 75 is fixedly connected and coaxially matched with the right side of the ball driving disc 20 through a 3 rd coupling 76, as shown in fig. 5, the 2 nd tubular shaft 77 is fixedly connected and coaxially matched with the right side of the ball serving ring 30 through a 4 th coupling 78, the 2 nd tubular shaft 77 is sleeved outside the driven tubular shaft 75 and fixedly connected through a bearing, and the bearing is positioned between the 2 nd tubular shaft 77 and the driven tubular shaft 75; the driven tubular shaft 75, the 3 rd coupling 76, the 2 nd tubular shaft 77, the 4 th coupling 78, and the bearings, which are fitted to each other, constitute the 2 nd shaft connecting portion. The driving shaft 71 of the 1 st shaft connecting part is connected with the top movable shaft of the left supporting frame 142 positioned at the left side, the driven tubular shaft 75 of the 2 nd shaft connecting part is connected with the top movable shaft of the right supporting frame 143 positioned at the right side, and the driving shaft 71 and the driven tubular shaft 75 can rotate around the axes of the left supporting frame 142 and the right supporting frame 143 relative to each other. Further, the driving shaft 71 is fixedly connected with the top end part of the left supporting frame 142 positioned on the left side through a bearing and a bearing seat, and the driving shaft 71 can rotate around the axis of the left supporting frame 142; the driven tubular shaft 75 is fixedly connected to the top end of the right support bracket 143 on the right side via a bearing and a bearing seat, and the driven tubular shaft 75 is rotatable about the axis thereof with respect to the right support bracket 143.

The left end of the driven tubular shaft 75 is communicated with a ball inlet hole 21 arranged in the ball driving disc 20, as shown in fig. 5, and is suitable for table tennis balls to be slidingly sent into the ball inlet hole 21 from the driven tubular shaft 75; the right end of the driven tubular shaft 75 is communicated with the lower end part of the ball conveying pipeline 62 and is suitable for the table tennis balls to be slidingly conveyed into the driven tubular shaft 75 from the ball conveying pipeline 62; so as to realize that the table tennis is conveyed from the ball bucket body 61 of the ball feeding part 60 to the ball inlet 21 through the ball conveying pipeline 62 and the driven tubular shaft 75, waits to be pushed into the ball sliding channel 22 by the ball distributing mechanism at the ball inlet 21, and waits to be launched out. The output shaft of the ball driving motor 41 is connected with the driving shaft 71 through a gear mechanism or an accelerator, and is used for driving the ball driving disc 20 to rotate, and accelerating the table tennis balls pushed into the ball sliding channel 22 by the ball distributing mechanism to be launched; the output shaft of the ball control motor 42 is connected to the 2 nd tubular shaft 77 via a speed reducer and a transmission mechanism, such as a gear mechanism or a chain wheel mechanism, to drive the ball serving ring 30 to rotate so as to adjust the shooting angle of the table tennis ball in the longitudinal direction.

The controller 80 is adapted to control the service robot to adjust a service mode, such as adjusting the launching speed, the horizontal launching angle, and the vertical launching angle of the table tennis. As shown in fig. 7, the controller 80 includes a microprocessor, and a 1 st motor driving module, a 2 nd motor driving module, a swing driving module, an electromagnetic driving module, and a network module electrically connected to the microprocessor. The driving motor 13 is a stepping motor, the driving motor 13 is electrically connected with a swing driving module of the controller 80 through a stepping driver, the ball driving motor 41 adopts a variable frequency motor, and the ball driving motor 41 is electrically connected with a No. 1 motor driving module of the controller 80 through a frequency converter; the ball control motor 42 is a stepping motor, the ball control motor 42 is electrically connected with the 2 nd motor driving module of the controller 80 through a stepping driver, and the electromagnetic driver is electrically connected with the electromagnetic driving module of the controller 80. The hardware of the controller 80 is configured as an existing product, and may be formed by a single chip microcomputer or a PLC, which is not described in detail herein.

The operation principle of the pitching machine of the embodiment is as follows: the table tennis is conveyed from the ball hopper body 61 through the ball conveying pipeline 62 and the driven tubular shaft 75 to the ball inlet hole 21 arranged in the ball driving disc 20, the ball distributing mechanism 50 pushes the table tennis at the ball inlet hole 21 into the ball sliding channel 22 and blocks the next table tennis at the ball inlet hole 21 so as to adjust the serving frequency and prevent the table tennis from being blocked. The ball driving motor 41 drives the ball driving disc 20 to rotate through the driving shaft 71, and under the rotating centrifugal action of the ball driving disc 20, the table tennis balls slide and roll towards the edge of the ball driving disc 20 along the ball sliding channel 22, slide to the ball driving part 23, are blocked by the sliding groove in the ball serving ring 30, and slide and roll circumferentially along the sliding groove to be launched; when the table tennis ball moves to the joint of the serving ring body 31 and the serving tube 32, the table tennis ball is centrifugally slipped out of the chute, is slipped into the serving tube 32, and is slipped out through the serving tube 32, so that the table tennis ball is shot. The ball driving motor 41 is operated to change the rotating speed, so that the launching speed of the table tennis can be adjusted, and the launching speed of the table tennis is diversified. The ball control motor 42 is operated to drive the ball serving ring 30 to rotate through the 2 nd tubular shaft 77, and the spatial position of the table tennis ball sliding into the ball serving pipe 32 from the chute is changed, so that the launching angle of the table tennis ball in the longitudinal direction is adjusted. The launching angle of the table tennis ball in the longitudinal direction is freely adjusted from 0 degree to 90 degrees, wherein the 0 degree corresponds to the table tennis ball being launched forwards along the horizontal direction, and the 90 degree corresponds to the table tennis ball being launched upwards along the vertical direction. In addition, when the serving ring 30 is operated to rotate in the vertical plane within the range of 0-180 degrees according to requirements, the table tennis can be launched in any direction of 0-180 degrees in the longitudinal direction, and the launching angle range is large and is wide-angle launching in the longitudinal direction. That is, the pitching machine can shoot balls with any angle and any height in the longitudinal direction. The driving motor 13 is operated to rotate, and the driving support seat 14 rotates around the 1 st driving shaft 15 relative to the base frame body 11, for example, the launching end of the pitching machine rotates leftwards or rightwards, so as to adjust the launching angle of the table tennis in the transverse direction. The transverse launching angle of the table tennis ball is freely adjusted between 0 and 180 degrees, wherein the 0 and 180 degrees correspond to the horizontal launching of the table tennis ball to the left and the right along the transverse direction. In addition, according to requirements, the driving motor 13 can be operated to drive the supporting seat 14 to rotate around the 1 st driving shaft 15 in the range of 0-360 degrees relative to the base frame body 11, table tennis balls can be transversely launched in any direction of 0-360 degrees, namely all directions, and a pitching machine can be suitable for training by multiple persons at the same time. The controller controls the service robot to adjust the launching speed of the table tennis balls and automatically adjust the service mode, the table tennis balls can be freely adjusted in the longitudinal launching angle and the transverse launching angle, the launching angle range of the table tennis balls is wide, the launching angles are wide, the random change is realized, the launching heights are various, the ball tracks are variable, the falling point positions are randomly distributed, and the training difficulty is high. The service robot realizes that the table tennis is launched at different launching angles and lands in different places, better simulates a real service mode, has higher training difficulty, and meets the training requirements of different levels and different personnel.

Compared with the prior art, the invention has the following remarkable technical progress.

The controller operation supporting seat rotates for the bed frame body and adjusts the table tennis at horizontal launch angle, the operation drives the transmission speed that the table tennis was adjusted to ball disc adjustment rotational speed, the operation is served the ball ring and is rotated and adjust the launch angle of table tennis at fore-and-aft launch angle, make the launch angle of the table tennis of service car transmission, speed, the landing point has the randomness, service car launch mode changes the multiterminal, launch angle's variation range is big, launch altitude variation is various, the ball orbit is changeable various, landing point position distribution is random, true service mode has been simulated better, the training degree of difficulty is great, different levels have been satisfied, different personnel's training demand.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the foregoing description only for the purpose of illustrating the principles of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims, specification, and equivalents thereof.

Claims

1. The utility model provides a wide angle table tennis intelligence service robot which characterized in that, intelligence service robot includes:

the base frame is a bearing foundation of the pitching machine; the pedestal at least comprises a pedestal body, a supporting seat and a driving motor; the supporting seat comprises a disc-shaped base, vertically arranged supporting frames and a 1 st driving shaft, and the bottom end parts of the two supporting frames are respectively fixed with the left and right opposite side sides of the base; the 1 st driving shaft is vertically arranged, the upper end part of the 1 st driving shaft is fixed with the central part of the base and is positioned below the base; the supporting seat is attached to the base frame body through a thrust bearing, and the No. 1 driving shaft is assembled with the base frame body shaft; the driving motor is connected with the 1 st driving shaft through the speed reducer, and the driving support seat rotates around the 1 st driving shaft relative to the base frame body and is suitable for adjusting the transverse launching angle of the table tennis;

the serving ring is suitable for adjusting the launching angle of the table tennis in the longitudinal direction; the service ring comprises a service ring body and a service pipe, wherein the service ring body is annular, the inner surface of the service ring body is provided with a chute which is matched with the ball driving part and is suitable for table tennis to slide, and the chute surrounds a circle along the inner surface of the service ring body (31); the edge of the serving ring body (31) is provided with a serving tube (32), and the serving tube is tangent to the chute of the serving ring body and is suitable for table tennis flying and launching; the ball driving disc is assembled in the ball serving ring body and matched with the ball serving ring body in a coaxial manner, and a ball driving part (23) of the ball driving disc (20) extends into the sliding groove;

the ball distributing mechanism is arranged opposite to the input port of the ball sliding channel (22) and at least comprises an electromagnetic driver, a distributing stop lever and a limiting sliding sleeve; the electromagnetic driver (51) and the limiting sliding sleeve (53) are sequentially fixed in the ball driving disc (20) and are positioned on the opposite side of the input port of the sliding ball channel (22); an output shaft of the electromagnetic driver is fixedly connected with one end of the distribution stop lever, and the other end of the distribution stop lever penetrates through the limiting sliding sleeve and extends into the ball inlet hole, so that the electromagnetic driver is suitable for pushing a table tennis into the sliding ball channel and stopping the next table tennis in the ball inlet hole;

the shaft connecting part is suitable for connecting the ball driving disc and the ball serving ring with the support frame shaft; the shaft connecting part comprises a driving shaft (71), a 1 st shaft coupler, a 1 st tubular shaft, a 2 nd shaft coupler, a driven tubular shaft (75), a 3 rd shaft coupler, a 2 nd tubular shaft and a 4 th shaft coupler; the driving shaft (71) is fixed and coaxially matched with one side of the ball driving disc through a 1 st shaft coupler, and the 1 st tubular shaft is fixed and coaxially matched with one side of the ball serving ring through a 2 nd shaft coupler; the 1 st tubular shaft is sleeved outside the driving shaft and fixed through a bearing, and the 1 st tubular shaft rotates relative to the driving shaft; the driven tubular shaft (75) is fixed and coaxially matched with the other side of the ball driving disc through a 3 rd coupling, the 2 nd tubular shaft is fixed and coaxially matched with the other side of the ball serving ring through a 4 th coupling, and the 2 nd tubular shaft is sleeved outside the driven tubular shaft and fixed through a bearing; the driving shaft (71) and the driven tubular shaft (75) are respectively connected with a top movable shaft of the support frame and can rotate relative to the support frame; an output shaft of the ball driving motor is connected with a driving shaft to drive the ball driving disc to rotate; an output shaft of the ball control motor is connected with the No. 2 tubular shaft to drive the ball serving ring to rotate; the lower end part of the ball conveying pipeline is communicated with the driven tubular shaft;

2. The wide-angle intelligent service robot for table tennis according to claim 1, wherein: the intelligent pitching machine further comprises wheels, and the wheels at least comprise a rear left wheel and a rear right wheel which are arranged on the rear side of the base frame body and a front left wheel and a front right wheel which are arranged on the front side of the base frame body.

3. The wide-angle intelligent service robot for table tennis according to claim 2, wherein: the inner surfaces of the sliding groove and the ball serving tube in the ball serving ring body are respectively coated with a Teflon coating.

4. The wide-angle intelligent service robot for table tennis according to claim 3, wherein: the driving shaft (71) is fixed with the top end part of the left supporting frame positioned on the left side through a bearing and a bearing seat, and can rotate around the axis of the driving shaft relative to the left supporting frame; the driven tubular shaft (75) is fixed with the top end part of the right support frame on the right side through a bearing and a bearing seat, and can rotate around the axis of the driven tubular shaft relative to the right support frame.

5. The wide-angle intelligent service robot for table tennis according to claim 4, wherein: the distribution stop lever is in sliding fit with the limiting sliding sleeve to form a sliding pair.

6. The wide-angle intelligent service robot for table tennis according to claim 5, wherein: the ball driving motor is a variable frequency motor and is electrically connected with the controller through a frequency converter.

7. The wide-angle intelligent service robot for table tennis according to claim 6, wherein: the ball control motor is a stepping motor and is electrically connected with the controller through a stepping driver.

8. The wide-angle intelligent service robot for table tennis according to claim 7, wherein: the driving motor is a stepping motor and is electrically connected with the controller through a stepping driver.

9. The wide-angle intelligent service robot for table tennis according to any one of claims 1 to 8, wherein: and an output shaft of the ball control motor is connected with the No. 2 tubular shaft through a chain wheel mechanism or a gear mechanism shaft.