CN108686361A - A kind of novel badminton pitching machine - Google Patents

Abstract

The invention belongs to sports apparatus technical field, a kind of novel badminton pitching machine, including horizontal steering mechanism, space luffing mechanism, lifting mechanism, ball serving device, running gear, ball bucket interval rotation device and shuttlecock clamp device.Running gear is located at service motor spindle;Lifting mechanism is located above running gear, and the shell of pedestal and running gear is affixed;Horizontal steering mechanism is located on lifting mechanism, is fixed at the top of lifting mechanism by rack;The rack of space luffing mechanism is fixed in above horizontal steering mechanism;Ball serving device is fixed in above the luffing mechanism of space;Ball cylinder interval rotation device is located at below ball cylinder, and ball cylinder is located at entire service robot top;Shuttlecock clamp device is located at below ball cylinder intermittent rotating mechanism, affixed with shell.The service robot floor space of the present invention is small, compact-sized;Realize multi-angle, it is multipoint continue to serve, meet the use demand of sports enthusiast;Power is abundant, serve speed is fast, can more preferably simulate true service situation.

Description

A kind of novel badminton pitching machine

Technical field

The invention belongs to sports apparatus technical fields, and in particular to a kind of novel badminton pitching machine.

Background technology

With the promotion and popularization of badminton, occur shuttlecock automatic pitching machine of all shapes and colors on the market, uses To coordinate sportsman or shuttlecock fan to be trained.

Existing badminton service robot is struck (such as the movable type of the designs such as Xiao Qu using actual racket mostly Badminton service robot device people, patent No. CN106799033A), serving way is excessively clumsy, is easily interfered with other components, and Serve speed is not easy to manipulate.Also have ball serving device (such as a kind of base of Hu Haoyu designs shuttlecock thrown away using centrifugal force In the badminton service robot structure of centrifugal force, patent No. 206934681U), but the serve speed of these devices is low, can not simulate and hit True dynamics when ball.

By gear drive service robot running gear (such as a kind of badminton service robot for the designs such as Yang Zi is grand, Patent No. CN201939989U) it can realize the unidirectional shift in position of machine, but movement locus is dull, and service robot position changes Become largely or to rely on human hand is dynamic to carry.

Existing badminton service robot is paid close attention to not enough for paying close attention to the automatic feed of shuttlecock, and existing release mechanism is adopted mostly With belt pulley transmit mode transmit shuttlecock (such as Wu Yu duckweeds design a kind of badminton service robot, the patent No. 103721395A), it is relatively low to be sent into precision.

Demand is trained in the diversification that existing badminton service robot cannot achieve accurate change drop point, varied angle, reduces use Interest in the process and athletics.

Therefore, design is a kind of realizing flexible and changeable service rule, light structure, the novel badminton service that can be automatically controlled Machine is very necessary.

Invention content

Technical scheme of the present invention:

A kind of novel badminton pitching machine, mainly by horizontal steering mechanism 1, space luffing mechanism 2, lifting mechanism 3, service Device 4, running gear 5, ball bucket interval rotation device 6 and shuttlecock clamp device 7 form;

Running gear 5 is located at service motor spindle, is contacted with ground and plays migration;Lifting mechanism 3 is located at walking and fills 5 tops are set, the shell of pedestal and running gear 5 is affixed, and part thereon is reduced for raising;Horizontal steering mechanism 1 is located at It rises in mechanism 3,3 top of lifting mechanism is fixed in by rack, control service robot rotates in the horizontal plane;Space luffing mechanism 2 rack is fixed in 1 top of horizontal steering mechanism, in vertical rotation in surface;Ball serving device 4 is fixed in space luffing mechanism 2 tops, play the function of launching shuttlecock;Ball cylinder interval rotation device 6 is located at below ball cylinder, for rotating ball cylinder, Uniformly ball, ball cylinder is taken to be located at entire service robot top;Shuttlecock clamp device 7 is located at 6 lower section of ball cylinder intermittent rotating mechanism, with shell Body is affixed, plays gripping shuttlecock and is sent into service channeling;Shell is service robot shell or supporting part, serves as service robot machine Frame part;

Horizontal steering mechanism 1 is planetary reducer, mainly by steering platform 110, main shaft 120, bearing 130, internal gear Body 140, the first pinion gear 150, the first gear wheel 160 and first servo motor 170 form;Internal tooth wheel body 140 passes through bolt spiral shell Mother, which is connected on, to be turned on platform 110;By screw attachment in three outer rims of main shaft 120, first watches first servo motor 170 Hole of the output shaft of motor 170 in outer rim is taken, for driving the first pinion gear 150;120 one end of main shaft and internal tooth wheel body 140 are connected by bearing 130, and main shaft 120 is connected by flat key with the first gear wheel 160,120 other end of main shaft and holder 220 It is threaded;Internal tooth wheel body 140, the first pinion gear 150, the first gear wheel 160 and main shaft 120 constitute planetary gear train, should Mechanism has the function of to change service direction in horizontal plane, and transmission is accurate, response is very fast;

Space luffing mechanism 2 is crank and rocker mechanism, is mainly connected by crank 210, holder 220, service platform 230, first Bar 240, the second servo motor 250, the second pinion gear 260, the second gear wheel 270 and shaft 280 form;210 both ends of crank point It is not hinged with holder 220 and service platform 230;First connecting rod 240 is also hinged with holder 220 and service platform 230;Second servo Motor 250 imparts power to shaft 280 by the second pinion gear 260, the second gear wheel 270, and shaft 280 and crank 210 are logical Interference fit is connected, and drives 210 reciprocally swinging of crank;The mechanism for changing service direction pitch rate, it is simple in structure, It can usually be laid flat to save space;

Lifting mechanism 3 is multistage scissors mechanism, mainly by steering platform 110, pedestal 310, second connecting rod 320, slide bar 330, linear motor 340, axis pin 350 and bar 360 form;Second connecting rod 320 and slide bar 330 constitute revolute pair, second connecting rod 320 Between pass through axis pin 350 realize connection;330 both ends of slide bar and linear motor 340 are connected, in the driving effect of linear motor 340 Under, second connecting rod 320 and slide bar 330 move therewith, will turn to platform 110 and jack up, change service height;The symmetrical cloth of both sides mechanism It sets, centre is connected with bar 360;

Ball serving device 4 is mainly made of nozzle 410, transmitting tube 420, sliding rail 430 and pneumatic accessories;Nozzle 410 and sliding rail 430 are mounted on service platform 230, and 420 end face of transmitting tube and 410 end face of nozzle have electromagnet;Electromagnet is polar to be changed Change makes the patch of transmitting tube 420 close or remote from nozzle 410;Shuttlecock is placed in 410 front of nozzle, nozzle 410 and air by manipulator Compressor is connected, and compressed air is made to be sprayed from nozzle, and shuttlecock high speed is pushed to fly out;

Running gear 5 mainly by speed change gear 510, not exclusively wheel 520, braking system 530,540 and of brake apparatus Round angle steering wheel group at;

Speed change gear 510 is mainly by motor 511, planetary gear train 512, first bevel gear 513 and second bevel gear 514 It constitutes;511 output shaft of motor and the input shaft of first bevel gear 513 are affixed, 513 output shaft of first bevel gear and planetary gear train 512 input shafts are affixed, and 512 output shaft of planetary gear train and second bevel gear 514 are affixed;When work, motor 511 inputs certain turn Speed plays decelerating effect via next device is inputted after 514 speed change of first bevel gear 513, planetary gear train 512 and second bevel gear;

Not exclusively wheel 520 is mainly made of three wheels and two clutches, the second cone of 521 one end of first clutch connection 514 output shaft of gear, other end fifth wheel 1, wheel 1 are completely superposed and affixed with 2 523 end faces of wheel, take turns 3 525 by The axis connection of second clutch 524 and wheel 2 523;When work, wheel 1, wheel 2 523 and the notch angular separation for taking turns 3 525 180 °, alternating, which is contacted to earth, realizes that speed is uniform;When inoperative, while liftoff, 0 ° of notch angular separation;

Braking system 530 is mainly in series by double-slider mechanism and scissors mechanism, first clutch 521, the second clutch Device 524 is respectively served as Slipper in double-slider mechanism;Two groups of double-slider mechanisms include May Day connecting rod 531, May Day sliding block 532, Five or two connecting rods 535 and five or two sliding blocks 536,531 one end of May Day connecting rod are hinged on 521 side axis of first clutch, five or two connecting rods 535 one end are hinged on 524 side axis of second clutch, the other end of the two respectively with May Day sliding block 532 and five or two sliding blocks 536 Hingedly, May Day sliding block 532 and five or two sliding blocks 536 are formed in May Day scissor connecting rod 1 and May Day scissor connecting rod 2 534 respectively It is slided on the sliding rail that sliding rail, five or two scissor connecting rods 1 and five or two scissor connecting rods 2 538 are formed;Two groups of scissors mechanisms include five One scissor connecting rod 1, May Day scissor connecting rod 2 534, five or two scissor connecting rods 1 and five or two scissor connecting rods 2 538, May Day cuts It pitches connecting rod 1 and May Day scissor connecting rod 2 534 is hinged, and be articulated on supporting rack 539;Five or two scissor connecting rods one 537 and five Two scissor connecting rods 2 538 are hinged, and are articulated on supporting rack 539;First scissors mechanism is used for wheel 1 and wheel in commutation process 2 523 have put liftoff rear locking wheel 1 and wheel 2 523, ensure that two-wheeled is in liftoff state, the second scissors mechanism is for commutating Wheel 3 525 has put liftoff rear locking wheel 3 525 in the process, ensures that this wheel is in liftoff state;When work, two throw-out-of clutches Afterwards, May Day connecting rod 531 and five or two connecting rods 535 drive May Day sliding block 532 and five or two sliding blocks 536 to move up respectively, make in scissors mechanism May Day scissor connecting rod 1, May Day scissor connecting rod 2 534, five or two scissor connecting rods 1, five or two scissor connecting rods 2 538 are in spring Effect is lower to be resetted, and realizes that locking is realized in rotation, scissors mechanism tightening, bearing support 539 and shell are affixed;It not exclusively takes turns 520 and embraces Dead device 530 shares two groups respectively, and the axis that when arrangement ensures not exclusively to take turns 520 in two groups is in 90 degree of angles, by clutch control System works alternatively, and realizes commutation function;

Brake apparatus 540 is placed in 5 periphery of running gear, is slider-crank mechanism;It brakes top plate 544 and shell is affixed, five Four cranks 541 and braking top plate 544 are hinged, and 541 connecting power device of the May 4th crank, five double leval jibs, 542 both ends respectively with The May 4th crank 541, five Four-sliders 543 are hinged, totally four groups of the May 4th crank 541 and five double leval jibs 542, on braking top plate 544 Cloth, five Four-sliders 543 of limitation move along a straight line;When work, power plant makes the May 4th crank 541 rotate, and five double leval jibs 542 drive Five Four-sliders 543 are compressed in lower dead point position and ground, and larger frictional force is generated by larger normal pressure, passes through friction catch; Round angle universal wheel is arranged in running gear quadrangle, and top is affixed with shell, plays synkinesia;

Ball bucket interval rotation device 6 is a kind of clearance mechanism realized using Geneva mechanism and gear mechanism, mainly by the Three servo motors 610,620, four points of the first bottom plate 630, four points of sheave driving mechanism sheave follower 640, third pinion 650, third gear wheel 660 and ball bucket 670 form;610, four points of third servo motor, 630, four points of sheave driving mechanism sheave Follower 640 is bolted on the first bottom plate 620;Third servo motor 610 directly drives four points of sheaves actively Mechanism 630, four points of 630 gaps of sheave driving mechanism drive four points of sheave followers 640;Four points of 640 Hes of sheave follower Third pinion 650 is key connection, and third gear wheel 660 and third pinion 650 are intermeshed, and intermittent rotary is passed through third Gear wheel 660 is transmitted to ball bucket 670, to realize the gap rotation of ball bucket 670;

Shuttlecock clamp device 7 is mainly by the second bottom plate 710, rotating guide-bar 720, Pneumatic extension bar 730, third connecting rod 740, rocking bar 750 and clamp body 760 form;Second bottom plate 710 is bolted on shell, Pneumatic extension bar 730 and turn Dynamic guide rod 720 forms prismatic pair, and third connecting rod 740 and rocking bar 750 are connected through the hinge on clamp body 760;To realize plumage Ball top clamp device 7 grips shuttlecock and rotates by a certain angle.

Beneficial effects of the present invention:

(1) floor space is small, compact-sized;

(2) realize multi-angle, it is multipoint continue to serve, meet the use demand of sports enthusiast;

(3) power is abundant, serve speed is fast, can more preferably simulate true service situation.

Description of the drawings

Fig. 1 is service robot overall appearance figure.

Fig. 2 is overall construction drawing inside service robot.

Fig. 3 is horizontal steering mechanism outline drawing.

Fig. 4 horizontal steering mechanism schematic internal views.

Fig. 5 serving mechanisms and space luffing mechanism schematic diagram.

Fig. 6 lifting mechanism schematic diagrames.

Fig. 7 is running gear mechanism map, removal rack (i.e. shell) and round angle universal wheel.

Fig. 8 is speed change gear part figure in running gear.

Fig. 9 is that part figure is not exclusively taken turns in running gear.

Figure 10 is braking system part figure in running gear.

Figure 11 is brake apparatus part figure in running gear.

Figure 12 ball bucket interval rotation device schematic diagrames.

Figure 13 shuttlecock clamp device schematic diagrames

In figure:1 horizontal steering mechanism;2 space luffing mechanisms;3 lifting mechanisms;4 ball serving devices;5 running gears;6 ball cylinders Intermittent motion device;7 shuttlecock clamp devices;110 turn to flat second connecting rod platform;120 main shafts;130 bearings;140 internal tooth wheel bodys; 150 first pinion gears;160 first gear wheels;170 first servo motors;210 cranks;220 holders;230 service platforms;240 One connecting rod;250 second servo motors;260 second pinion gears;270 second gear wheels;280 shafts;310 pedestals;320 second connect Bar;330 slide bars;340 linear motors;350 axis pins;360 bars;410 nozzles;420 transmitting tubes;430 sliding rails;510 speed change gears; 511 motors;512 planetary gear trains;513 first bevel gears;514 second bevel gears;520 not exclusively take turns;521 first clutches;522 Wheel one;523 wheels two;524 second clutches;525 wheels three;530 braking systems;531 May Day connecting rods;532 May Day sliding blocks;533 5 One scissor connecting rod one;534 May Day scissor connecting rod, two power;535 52 connecting rods;536 52 sliding blocks;537 52 scissor connecting rods one; 538 52 scissor connecting rods two;539 bearing supports;540 brake apparatus;541 the May 4th cranks;542 5 double leval jibs;543 5 Four-sliders; 544 braking top plates;610 third servo motors;620 first bottom plates;630 4 points of sheave driving mechanisms;640 4 points of sheave driven machines Structure;650 third pinions;660 third gear wheels;670 ball buckets;710 second bottom plates;720 rotating guide-bars;730 Pneumatic extension bars; 740 third connecting rods;750 rocking bars;760 clamp bodies.

Specific implementation mode

The functions such as the present invention may be implemented to be horizontally diverted, space pitching, raising, walking, release, service.

It is horizontally diverted:First servo motor 170 drives the rotation of the first pinion gear 150, and the first gear wheel 160 is by with first Revolution is realized in the engagement of pinion gear 150.The main shaft 120 being connected with the first gear wheel 160 is to rotate, then so that consolidating therewith Holder 220 rotate, other mechanisms of 220 or more holder will also turn round simultaneously, realize the level change in service direction.

Space pitching:Second servo motor 250 drives the second pinion gear 260 and the rotation of the second gear wheel 270 so that with the The connected shaft 280 of two gear wheels 270 drives crank 210 to rotate.Under the drive of crank 210, service platform 230 does plane fortune Dynamic, service platform 230 and the angle of holder 220 change correspondingly, to realize the space pitching movement of service platform 230.

Raising:When linear motor 340 works, slide bar 330 moves.Constrained by geometrical relationship, second connecting rod 320 with Movement so that pedestal 310 and turn to platform 110 between distance up and down change so that turn to platform 110 on it is other Mechanism integral elevating.

Service:By circuit control, make the electromagnet polarity phase of 430 end face of electromagnet and transmitting tube of 410 end face of nozzle Together, transmitting tube 430 and nozzle 410 are separated by a distance.Shuttlecock is placed in the groove in 410 front of nozzle by manipulator, is waited for Service instruction.When service, electromagnet polarity becomes on the contrary, transmitting tube 430 is tightly bonded with 410 end face of nozzle, and composition one is closed Space.It is controlled by pneumatic system, compressed air sprays, and shuttlecock is projected.

Walking:It is controlled by motor, through speed change gear 510, band motor car wheel 520 rotates.It is preceding when one group of wheel work Two pairs of wheels alternately contact to earth afterwards, ensure that velocity-stabilization is uniform.When commutation, the time that two groups of wheels disengage, access clutch is controlled, Double-slider mechanism moves under clutch control in locking mechanism 530, and scissors mechanism top shoe moves up, by spring reset, tightening Left and right scissor, locking wheel.After disengaging clutch, imperfect wheel gap portions have been put towards ground, i.e. wheel, are detached from ground. Another group of wheel and ground Contact Transmission, realize commutation.540 Slipper of brake apparatus is rubber block, when braking, slide block movement To lower dead point position, certain decrement is contacted and generated with ground, generates larger normal pressure, to provide frictional force, quickly make It is dynamic.

Gap rotates:It is controlled by motor 610, drives four points of sheave driving mechanisms 630, four points of sheave driving mechanisms 630 Uniform rotation become the gap fortune work(of four points of sheave followers 640 by Geneva mechanism.Four points of sheave followers 640 Third pinion 650, third gear wheel 660 is directly driven to obtain the lower gap rotation of rotating speed by engagement, gear wheel will Movement passes to ball bucket 670, realizes that 670 mesoptile ball of ball bucket is put into one by one.

Gripping:Rotating guide-bar 720 is controlled by the small machine inside the second bottom plate 710 to rotate.Pneumatic extension bar 730, third connecting rod 740, rocking bar 750 and clamp body 760 constitute slider-crank mechanism.The movement of Pneumatic extension bar 730, through Three-link 740 is driven, and becomes the gripping action of rocking bar 750.

In terms of comprehensive, when Job readiness, service robot is placed on specific position.After start-up operation, running gear 5 works, and moves It moving to after designated position, and then jack up unit 3 works, after being elevated to designated position, horizontal steering device 1 and space pitching dress Set 2 to work at the same time, use ball axial-movement to designated position and angle, shuttlecock clamp device 7 works, gripping shuttlecock send to 4 nozzle position of ball serving device, ball serving device 4 are served a ball, while gap rotating mechanism 6 works, and ball cylinder is gone to next ball mouth. It serves a ball after the completion of work, subsequent work position is moved to by running gear 5.After all-of, jack up unit 3 drops to original Position, horizontal steering device 1 and space elevation mount 2 reset simultaneously, and the work of running gear 5 moves back to original position.

Claims (1)

1. a kind of novel badminton pitching machine, which is characterized in that the novel badminton pitching machine is mainly by being horizontally diverted machine Structure (1), space luffing mechanism (2), lifting mechanism (3), ball serving device (4), running gear (5), ball cylinder interval rotation device (6) It is formed with shuttlecock clamp device (7);

Running gear (5) is located at service motor spindle, is contacted with ground and plays migration;Lifting mechanism (3) is located at walking and fills It sets above (5), pedestal and the shell of running gear (5) are affixed, and part thereon is reduced for raising;Horizontal steering mechanism (1) It on lifting mechanism (3), is fixed at the top of lifting mechanism (3) by rack, control service robot rotates in the horizontal plane;It is empty Between the rack of luffing mechanism (2) be fixed in above horizontal steering mechanism (1), in vertical rotation in surface;Ball serving device (4) is solid It is connected to above space luffing mechanism (2), plays the function of launching shuttlecock;Ball cylinder interval rotation device (6) is located at ball Cylinder lower section, for rotating ball cylinder, uniformly takes ball, ball cylinder to be located at entire service robot top;Shuttlecock clamp device (7) is located at ball cylinder It is affixed with shell below intermittent rotating mechanism (6), it plays gripping shuttlecock and is sent into service channeling;Shell is outside service robot Shell or supporting part serve as service robot rack section;

Horizontal steering mechanism (1) is planetary reducer, mainly by steering platform (110), main shaft (120), bearing (130), interior Gear mass (140), the first pinion gear (150), the first gear wheel (160) and first servo motor (170) composition;Internal tooth wheel body (140) it is connected in and is turned on platform (110) by bolt and nut;First servo motor (170) is by screw attachment in main shaft (120) in three outer rims, the output shaft of first servo motor (170) passes through the hole in outer rim, for driving the first pinion gear (150);Main shaft (120) one end is connected with internal tooth wheel body (140) by bearing (130), and main shaft (120) is big by flat key and first Gear (160) is connected, and main shaft (120) other end is threaded with holder (220);Internal tooth wheel body (140), the first pinion gear (150), the first gear wheel (160) and main shaft (120) constitute planetary gear train, the mechanism have change in horizontal plane service direction it Function, and it is driven accurate, response comparatively fast;

Space luffing mechanism (2) is crank and rocker mechanism, mainly by crank (210), holder (220), service platform (230), the One connecting rod (240), the second servo motor (250), the second pinion gear (260), the second gear wheel (270) and shaft (280) composition; Crank (210) both ends are hinged with holder (220) and service platform (230) respectively;First connecting rod (240) also with holder (220) and Platform (230) of serving a ball is hinged;Second servo motor (250) is by the second pinion gear (260), the second gear wheel (270) by power It passes to shaft (280), shaft (280) and crank (210) by interference fit to be connected, drives crank (210) reciprocally swinging;It should Mechanism for changing service direction pitch rate, it is simple in structure, can usually be laid flat to save space;

Lifting mechanism (3) is multistage scissors mechanism, mainly by steering platform (110), pedestal (310), second connecting rod (320), cunning Bar (330), linear motor (340), axis pin (350) and bar (360) composition;Second connecting rod (320) and slide bar (330) constitute rotation Pair passes through axis pin (350) between second connecting rod (320) and realizes connection;Slide bar (330) both ends and linear motor (340) are connected, Under the driving effect of linear motor (340), second connecting rod (320) and slide bar (330) move therewith, will turn to platform (110) and push up It rises, changes service height;Both sides mechanism is arranged symmetrically, and intermediate bar (360) is connected;

Ball serving device (4) is mainly made of nozzle (410), transmitting tube (420), sliding rail (430) and pneumatic accessories;Nozzle (410) It is mounted on service platform (230) with sliding rail (430), transmitting tube (420) end face and nozzle (410) end face have electromagnet; The polar change of electromagnet makes transmitting tube (420) patch close or remote from nozzle (410);Shuttlecock is placed in nozzle by manipulator (410) front, nozzle (410) are connected with air compressor, and compressed air is made to be sprayed from nozzle, and shuttlecock high speed is pushed to fly out;

Running gear (5) is mainly by speed change gear (510), not exclusively wheel (520), braking system (530), brake apparatus (540) and round angle steering wheel group at;

Speed change gear (510) is mainly by motor (511), planetary gear train (512), first bevel gear (513) and the second cone tooth (514) are taken turns to constitute;Motor (511) output shaft and the input shaft of first bevel gear (513) are affixed, first bevel gear (513) output Axis and planetary gear train (512) input shaft are affixed, and planetary gear train (512) output shaft and second bevel gear (514) are affixed;When work, Motor (511) inputs certain rotating speed, via first bevel gear (513), planetary gear train (512) and second bevel gear (514) speed change After input next device, rise decelerating effect;

Not exclusively wheel (520) is mainly made of three wheels and two clutches, the second cone of first clutch (521) one end connection Gear (514) output shaft, other end fifth wheel one (522), one (522) of wheel are completely superposed with two (523) end faces of wheel and affixed, wheel Three (525) are by second clutch (524) and the axis connection for taking turns two (523);When work, one (522) of wheel, two (523) of wheel and wheel three (525) 180 ° of notch angular separation, alternating, which is contacted to earth, realizes that speed is uniform;When inoperative, while liftoff, notch angular separation 0°;

Braking system (530) is mainly in series by double-slider mechanism and scissors mechanism, first clutch (521), the second clutch Device (524) is respectively served as Slipper in double-slider mechanism;Two groups of double-slider mechanisms include May Day connecting rod (531), May Day sliding block (532), five or two connecting rods (535) and five or two sliding blocks (536), May Day connecting rod (531) one end are hinged on first clutch (521) side On axis, five or two connecting rods (535) one end is hinged on the axis of second clutch (524) side, and the other end of the two is slided with May Day respectively Block (532) and five or two sliding blocks (536) are hinged, and May Day sliding block (532) and five or two sliding blocks (536) are respectively in May Day scissor connecting rod one (533) and May Day scissor connecting rod two (534) formed sliding rail, five or two scissor connecting rods one (537) and five or two scissor connecting rods two (538) It is slided on the sliding rail of formation;Two groups of scissors mechanisms include May Day scissor connecting rod one (533), May Day scissor connecting rod two (534), five or two Scissor connecting rod one (537) and five or two scissor connecting rods two (538), May Day scissor connecting rod one (533) and May Day scissor connecting rod two (534) It is hinged, and be articulated on supporting rack 539;Five or two scissor connecting rods one (537) and five or two scissor connecting rods two (538) are hinged, and hinged In on supporting rack 539;First scissors mechanism is used for one (522) of wheel in commutation process and has put liftoff rear locking wheel with two (523) of wheel One (522) and two (523) of wheel ensure that two-wheeled is in liftoff state, and the second scissors mechanism is used for three (525) of wheel in commutation process and puts Liftoff rear locking wheel three (525) is played, ensures that this wheel is in liftoff state;When work, after two throw-out-of clutches, May Day connecting rod (531) and five or two connecting rods (535) drive May Day sliding block (532) and five or two sliding blocks (536) to move up respectively, make May Day in scissors mechanism Scissor connecting rod one (533), May Day scissor connecting rod two (534), five or two scissor connecting rods one (537), five or two scissor connecting rods two (538) exist Spring effect is lower to be resetted, and realizes that locking is realized in rotation, scissors mechanism tightening, bearing support (539) and shell are affixed;Not exclusively wheel (520) two groups are shared with braking system (530) respectively, when arrangement ensures that not exclusively the axis of wheel (520) is pressed from both sides in 90 degree in two groups Angle is worked alternatively by clutch control, realizes commutation function;

Brake apparatus (540) is placed in running gear (5) periphery, is slider-crank mechanism;It brakes top plate (544) and shell is affixed, The May 4th crank (541) is hinged with braking top plate (544), and the May 4th crank (541) connecting power device, five double leval jibs (542) Both ends are hinged with the May 4th crank (541), five Four-sliders (543) respectively, totally four groups of the May 4th crank (541) and five double leval jibs (542), Uniformly distributed on braking top plate (544), five Four-sliders of limitation (543) move along a straight line;When work, power plant makes the May 4th crank (541) it rotates, five double leval jibs (542) drive five Four-sliders (543) to be compressed in lower dead point position and ground, are produced by larger normal pressure Raw larger frictional force, passes through friction catch;Round angle universal wheel is arranged in running gear quadrangle, and top is affixed with shell, rises auxiliary Movement is helped to act on;

Ball cylinder interval rotation device (6) is a kind of clearance mechanism realized using Geneva mechanism and gear mechanism, mainly by third Servo motor (610), the first bottom plate (620), four points of sheave driving mechanisms (630), four points of sheave followers (640), thirds Pinion gear (650), third gear wheel (660) and ball bucket (670) composition;Third servo motor (610), four points of sheave mover Structure (630), four points of sheave followers (640) are bolted on the first bottom plate (620);Third servo motor (610) four points of sheave driving mechanisms (630) are directly driven, four points of sheave driving mechanism (630) gaps drive four points of sheaves driven Mechanism (640);Four points of sheave followers (640) and third pinion (650) are key connection, third gear wheel (660) and the Three pinion gears (650) are intermeshed, and intermittent rotary are transmitted to ball bucket (670) by third gear wheel (660), to realize ball The gap rotation of bucket (670);

Shuttlecock clamp device (7) is mainly connected by the second bottom plate (710), rotating guide-bar (720), Pneumatic extension bar (730), third Bar (740), rocking bar (750) and clamp body (760) composition;Second bottom plate (710) is bolted on shell, Pneumatic extension Bar (730) and rotating guide-bar (720) form prismatic pair, and third connecting rod (740) and rocking bar (750) are connected through the hinge in clamp body (760) on;To realize folder shuttlecock clamp device (7) gripping shuttlecock and rotate by a certain angle.