CN108686361B - Novel badminton service robot - Google Patents
Novel badminton service robot Download PDFInfo
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- CN108686361B CN108686361B CN201810964855.4A CN201810964855A CN108686361B CN 108686361 B CN108686361 B CN 108686361B CN 201810964855 A CN201810964855 A CN 201810964855A CN 108686361 B CN108686361 B CN 108686361B
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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
- A63B69/409—Stationarily-arranged devices for projecting balls or other bodies with pneumatic ball- or body-propelling means
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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
- A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
- A63B67/18—Badminton or similar games with feathered missiles
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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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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
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Abstract
The invention belongs to the technical field of sports equipment, and discloses a novel badminton pitching machine which comprises a horizontal steering mechanism, a space pitching mechanism, a lifting mechanism, a pitching device, a traveling device, a badminton barrel intermittent rotating device and a badminton clamping device. The running gear is positioned at the bottom of the ball dispenser; the lifting mechanism is positioned above the traveling device, and the base of the lifting mechanism is fixedly connected with the shell of the traveling device; the horizontal steering mechanism is positioned on the lifting mechanism and is fixedly connected to the top of the lifting mechanism through a frame; the frame of the space pitching mechanism is fixedly connected above the horizontal steering mechanism; the service device is fixedly connected above the space pitching mechanism; the ball cylinder intermittent rotating device is positioned below the ball cylinder, and the ball cylinder is positioned at the top end of the whole ball dispenser; the badminton clamping device is positioned below the badminton barrel intermittent rotating mechanism and fixedly connected with the shell. The ball dispenser has small occupied area and compact structure; realizing multi-angle and multi-position continuous service, and meeting the use requirements of sports fans; the power is full, the service speed is high, and the real service condition can be better simulated.
Description
Technical Field
The invention belongs to the technical field of sports equipment, and particularly relates to a novel badminton pitching machine.
Background
Along with popularization of badminton, automatic shuttlecock service machines with various patterns are developed on the market and are used for training in cooperation with athletes or badminton fans.
Most of the existing badminton pitching machines use actual badminton rackets to strike (for example, a movable badminton pitching robot designed by a zodiac curve and the like, patent number CN 106799033A), the pitching mode is too clumsy, interference with other components is easy to occur, and the pitching speed is not easy to control. There are also ball serving devices (for example, a centrifugal force-based badminton ball serving mechanism designed by Hu Haoyu, patent No. 206934681U) that use centrifugal force to throw out shuttlecocks, but these devices have low ball serving speeds and cannot simulate the actual force of a ball striking process.
The running gear of the service robot (for example, yang Ziyi, patent number CN 201939989U) with the aid of the gear transmission mechanism can realize unidirectional position change of the machine, but the movement track is monotonous, and the change of the service robot position is carried by hand to a great extent.
The existing shuttlecock service robot is insufficient in automatic feeding attention to shuttlecocks, most of existing shuttlecocks feeding mechanisms adopt a belt pulley transmission mode to transmit the shuttlecocks (for example, a shuttlecock service robot designed by Wu Yuping, patent number 103721395A), and the feeding precision is low.
The existing badminton pitching machine cannot realize the diversified training requirements of accurate falling points and angles, and the interestingness and the athletics in the use process are reduced.
Therefore, it is necessary to design a novel badminton pitching machine which realizes flexible and changeable pitching rules, light and handy structure and can be automatically controlled.
Disclosure of Invention
The technical scheme of the invention is as follows:
the novel badminton pitching machine mainly comprises a horizontal steering mechanism 1, a space pitching mechanism 2, a lifting mechanism 3, a pitching device 4, a traveling device 5, a badminton barrel intermittent rotating device 6 and a badminton clamping device 7;
the running gear 5 is positioned at the bottom of the ball dispenser, contacts with the ground and plays a role in movement; the lifting mechanism 3 is positioned above the traveling device 5, and the base of the lifting mechanism is fixedly connected with the shell of the traveling device 5 and is used for lifting and lowering the upper part of the lifting mechanism; the horizontal steering mechanism 1 is positioned on the lifting mechanism 3 and is fixedly connected to the top of the lifting mechanism 3 through a frame to control the ball dispenser to rotate in a horizontal plane; the frame of the space pitching mechanism 2 is fixedly connected above the horizontal steering mechanism 1 and is used for rotating in a vertical plane; the service device 4 is fixedly connected above the space pitching mechanism 2 and plays a role in launching the shuttlecock; the ball barrel intermittent rotating device 6 is positioned below the ball barrel and is used for rotating the ball barrel and uniformly taking balls, and the ball barrel is positioned at the top end of the whole ball dispenser; the badminton clamping device 7 is positioned below the badminton barrel intermittent rotating mechanism 6 and fixedly connected with the shell, and plays a role in clamping badminton and sending the badminton into the serving channel; the shell is a service robot shell or support part and serves as a service robot rack part;
the horizontal steering mechanism 1 is a planetary reduction gear and mainly comprises a steering platform 110, a main shaft 120, a bearing 130, an internal gear body 140, a first pinion gear 150, a first large gear 160 and a first servo motor 170; the inner gear body 140 is coupled to the steering platform 110 by bolts and nuts; the first servo motor 170 is coupled to three outer edges of the main shaft 120 by screws, and an output shaft of the first servo motor 170 passes through holes on the outer edges for driving the first pinion 150; one end of the main shaft 120 is connected with the inner gear body 140 through a bearing 130, the main shaft 120 is connected with the first large gear 160 through a flat key, and the other end of the main shaft 120 is connected with the bracket 220 through threads; the inner gear body 140, the first pinion gear 150, the first bull gear 160 and the main shaft 120 form a planetary gear train, and the planetary gear train has the function of changing the ball serving direction in the horizontal plane, and has accurate transmission and quick response;
the space pitching mechanism 2 is a crank rocker mechanism and mainly comprises a crank 210, a bracket 220, a service platform 230, a first connecting rod 240, a second servo motor 250, a second pinion 260, a second large gear 270 and a rotating shaft 280; two ends of the crank 210 are respectively hinged with the bracket 220 and the service platform 230; the first link 240 is also hinged to the bracket 220 and the service platform 230; the second servo motor 250 transmits power to the rotating shaft 280 through the second pinion 260 and the second large gear 270, and the rotating shaft 280 is connected with the crank 210 through interference fit to drive the crank 210 to swing reciprocally; the mechanism is used for changing the pitching degree of the ball serving direction, has a simple structure, and can be laid flat at ordinary times to save space;
the lifting mechanism 3 is a multi-stage scissor mechanism and mainly comprises a steering platform 110, a base 310, a second connecting rod 320, a sliding rod 330, a linear motor 340, a pin shaft 350 and a rod 360; the second connecting rods 320 and the sliding rods 330 form a revolute pair, and the second connecting rods 320 are connected through pin shafts 350; the two ends of the sliding rod 330 are fixedly connected with the linear motor 340, and under the driving action of the linear motor 340, the second connecting rod 320 and the sliding rod 330 move along with the linear motor, so as to jack up the steering platform 110 and change the service height; the mechanisms on two sides are symmetrically arranged, and the middle is connected by a rod 360;
the service device 4 mainly comprises a spray head 410, a transmitting pipe 420, a sliding rail 430 and pneumatic accessories; the spray head 410 and the slide rail 430 are arranged on the service platform 230, and electromagnets are attached to the end face of the transmitting pipe 420 and the end face of the spray head 410; the change in polarity of the electromagnet causes the emitter tube 420 to be either proximate to or distal from the injector head 410; the shuttlecock is placed in front of the nozzle 410 by a manipulator, the nozzle 410 is connected with an air compressor, compressed air is sprayed out of the nozzle, and the shuttlecock is pushed to fly out at a high speed;
the running gear 5 mainly comprises a gear speed changing device 510, an incomplete wheel 520, a locking device 530, a braking device 540 and a peripheral angle universal wheel;
the gear speed change device 510 mainly comprises a motor 511, a planetary gear train 512, a first bevel gear 513 and a second bevel gear 514; an output shaft of the motor 511 is fixedly connected with an input shaft of a first bevel gear 513, an output shaft of the first bevel gear 513 is fixedly connected with an input shaft of a planetary gear train 512, and an output shaft of the planetary gear train 512 is fixedly connected with a second bevel gear 514; during operation, the motor 511 inputs a certain rotating speed, and the motor is input to a next device after being changed in speed through the first bevel gear 513, the planetary gear train 512 and the second bevel gear 514, so as to play a role in deceleration;
the incomplete wheel 520 mainly comprises three wheels and two clutches, one end of a first clutch 521 is connected with an output shaft of a second bevel gear 514, the other end of the first clutch is connected with a first wheel 522, the first wheel 522 is completely overlapped and fixedly connected with the end face of a second wheel 523, and a third wheel 525 is connected with the shaft of the second wheel 523 by a second clutch 524; when the device works, the included angle between the notch directions of the first wheel 522, the second wheel 523 and the third wheel 525 is 180 degrees, and the alternating touchdown realizes uniform speed; when the device does not work, the device is lifted off the ground at the same time, and the included angle between the notch directions is 0 degree;
the locking device 530 is mainly formed by connecting a double-slide block mechanism and a scissor mechanism in series, and the first clutch 521 and the second clutch 524 respectively serve as slide block parts in the double-slide block mechanism; the two sets of double-slide block mechanisms comprise a penta-connecting rod 531, a penta-slide block 532, a penta-two connecting rod 535 and a penta-two slide block 536, wherein one end of the penta-connecting rod 531 is hinged on a lateral side shaft of the first clutch 521, one end of the penta-two connecting rod 535 is hinged on a lateral side shaft of the second clutch 524, the other ends of the penta-two connecting rod 535 are respectively hinged with the penta-slide block 532 and the penta-two slide block 536, and the penta-slide block 532 and the penta-two slide block 536 respectively slide on a slide rail formed by a penta-one shear-fork connecting rod 533 and a penta-one shear-fork connecting rod 534 and a slide rail formed by a penta-two shear-fork connecting rod 537 and a penta-two shear-fork connecting rod 538; the two sets of scissors mechanisms comprise a five-one scissors connecting rod 533, a five-one scissors connecting rod 534, a five-two scissors connecting rod 537 and a five-two scissors connecting rod 538, wherein the five-one scissors connecting rod 533 and the five-one scissors connecting rod 534 are hinged and are hinged on the support 539; the first five-second scissor link 537 and the second five-second scissor link 538 are hinged and hinged on the support 539; the first shearing fork mechanism is used for holding the first wheel 522 and the second wheel 523 after the first wheel 522 and the second wheel 523 are put away from the ground in the reversing process, so that the two wheels are in a ground-away state, and the second shearing fork mechanism is used for holding the third wheel 525 after the third wheel 525 is put away from the ground in the reversing process, so that the wheel is in the ground-away state; when the two clutches are in operation, after the two clutches are disconnected, the five-one connecting rod 531 and the five-two connecting rod 535 drive the five-one sliding block 532 and the five-two sliding block 536 to move upwards respectively, so that the five-one shearing fork connecting rod 533, the five-one shearing fork connecting rod 534, the five-two shearing fork connecting rod 537 and the five-two shearing fork connecting rod 538 in the shearing fork mechanism are reset under the action of springs to realize rotation, the shearing fork mechanism is tightened to realize locking, and the supporting frame 539 is fixedly connected with the shell; the incomplete wheels 520 and the locking devices 530 are respectively shared in two groups, when the two groups are arranged, the axes of the incomplete wheels 520 in the two groups form an included angle of 90 degrees, and the incomplete wheels are controlled by a clutch to alternately work so as to realize a reversing function;
the braking device 540 is arranged at the periphery of the walking device 5 and is a crank slide block mechanism; the brake top plate 544 is fixedly connected with the shell, the five-four crank 541 is hinged with the brake top plate 544, the five-four crank 541 is connected with a power device, two ends of the five-four connecting rod 542 are respectively hinged with the five-four crank 541 and the five-four sliding block 543, the five-four crank 541 and the five-four connecting rod 542 are in four groups, are uniformly distributed on the brake top plate 544 and limit the five-four sliding block 543 to move along a straight line; when the device works, the power device rotates the five-four crank 541, the five-four connecting rod 542 drives the five-four sliding block 543 to be pressed with the ground at the bottom dead center position, and larger friction force is generated by larger positive pressure and is braked by friction; the peripheral angle universal wheels are arranged at four corners of the walking device, and the top of the peripheral angle universal wheels are fixedly connected with the shell to play an auxiliary movement role;
the intermittent ball barrel rotating device 6 is a gap mechanism realized by a grooved pulley mechanism and a gear mechanism, and mainly comprises a third servo motor 610, a first bottom plate 620, a quarter grooved pulley driving mechanism 630, a quarter grooved pulley driven mechanism 640, a third pinion 650, a third large gear 660 and a ball barrel 670; the third servo motor 610, the quarter sheave driving mechanism 630 and the quarter sheave driven mechanism 640 are all fixed on the first bottom plate 620 through bolts; the third servo motor 610 directly drives the quarter-sheave driving mechanism 630, and the quarter-sheave driving mechanism 630 drives the quarter-sheave driven mechanism 640 at intervals; the quarter sheave driven mechanism 640 and the third pinion 650 are connected by a key, the third large gear 660 and the third pinion 650 are engaged with each other, and intermittent rotation is transmitted to the barrel 670 through the third large gear 660, thereby realizing intermittent rotation of the barrel 670;
the badminton clamping device 7 mainly comprises a second bottom plate 710, a rotating guide rod 720, a pneumatic telescopic rod 730, a third connecting rod 740, a rocker 750 and a clamp body 760; the second bottom plate 710 is fixed on the housing by bolts, the pneumatic telescopic rod 730 and the rotating guide rod 720 form a moving pair, and the third connecting rod 740 and the rocker 750 are connected on the clamp body 760 by hinges; thereby realizing that the badminton clamping device 7 clamps the badminton and rotates a certain angle.
The invention has the beneficial effects that:
(1) The occupied area is small, and the structure is compact;
(2) Realizing multi-angle and multi-position continuous service, and meeting the use requirements of sports fans;
(3) The power is full, the service speed is high, and the real service condition can be better simulated.
Drawings
Fig. 1 is an overall external view of the service robot.
Fig. 2 is an overall construction view of the interior of the service robot.
Fig. 3 is an outline view of the horizontal steering mechanism.
Fig. 4 is a schematic view of the inside of the horizontal steering mechanism.
Fig. 5 is a schematic diagram of a ball launch mechanism and a spatial pitch mechanism.
Fig. 6 is a schematic diagram of a hoisting mechanism.
Fig. 7 is a diagram of the running gear mechanism with the frame (i.e., housing) and peripheral angle casters removed.
Fig. 8 is a partial view of the transmission in the running gear.
Fig. 9 is a partial view of an incomplete wheel in the running gear.
Fig. 10 is a partial view of the locking device in the running gear.
Fig. 11 is a partial view of a brake device in the running gear.
Fig. 12 is a schematic diagram of an intermittent rotation device for a barrel.
FIG. 13 is a schematic view of a badminton gripping apparatus
In the figure: 1 a horizontal steering mechanism; 2 a space pitching mechanism; 3, lifting mechanism; 4, a ball sending device; 5, a walking device; 6, a ball cylinder intermittent motion device; 7, a badminton clamping device; 110 to Xiang Pingdi; 120 main shaft; 130 bearings; 140 an inner gear body; 150 a first pinion gear; 160 a first gearwheel; 170 a first servo motor; 210 crank; 220 a bracket; 230 a tee platform; 240 a first link; a second servo motor 250; 260 a second pinion gear; 270 a second gearwheel; 280 rotation shaft; a base 310; 320 a second link; a 330 slide bar; 340 linear motor; 350 pin shafts; 360 bars; 410 spray head; 420 a launch tube; 430 a slide rail; 510 a transmission; a 511 motor; 512 planetary gear trains; 513 a first bevel gear; 514 a second bevel gear; 520 incomplete wheel; 521 a first clutch; 522 round one; 523 rounds of II; 524 a second clutch; 525 rounds of three; 530 locking the device; 531 five links; 532 five sliders; 533 five scissors linkage one; 534 five-one scissors linkage two forces; 535 a fifth two-bar linkage; 536 five-two sliding blocks; 537 fifth and second scissor links one; 538 five two scissors linkage two; 539 a support frame; 540 a brake device; 541 five four cranks; 542 five four links; 543 five four sliders; 544 brake top plate; 610 a third servo motor; 620 a first bottom plate; 630 four-way sheave drive mechanism; 640 four-way sheave driven mechanism; 650 a third pinion; 660 a third gearwheel; 670 ball barrel; a second bottom plate 710; 720 rotating the guide rod; 730 pneumatic telescoping rod; 740 a third link; 750 rocker; 760 clamp body.
Detailed Description
The invention can realize the functions of horizontal steering, space pitching, lifting, walking, ball feeding, ball serving and the like.
Horizontal turning: the first servo motor 170 rotates the first pinion 150, and the first large gear 160 rotates by meshing with the first pinion 150. The main shaft 120 connected with the first large gear 160 rotates accordingly, so that the bracket 220 fixedly connected with the main shaft rotates, and other mechanisms above the bracket 220 also rotate simultaneously, so that the horizontal change of the ball serving direction is realized.
Space pitching: the second servo motor 250 rotates the second pinion 260 and the second large gear 270, so that the rotation shaft 280 connected to the second large gear 270 rotates the crank 210. Driven by the crank 210, the serving platform 230 performs a planar motion, and the included angle between the serving platform 230 and the bracket 220 changes accordingly, thereby realizing a spatial pitching motion of the serving platform 230.
Lifting: when the linear motor 340 is operated, the slide bar 330 moves. The second link 320 moves with it, constrained by the geometric relationship, so that the up-down distance between the base 310 and the steering platform 110 changes, and other mechanisms on the steering platform 110 are lifted and lowered as a whole.
Serving ball: the polarity of the electromagnet on the end face of the spray head 410 is the same as that of the electromagnet on the end face of the emission tube 430 through circuit control, and the emission tube 430 is separated from the spray head 410 by a certain distance. The robot places the shuttlecock in a recess in front of the nozzle 410 awaiting a service instruction. When a ball is launched, the polarity of the electromagnet is reversed, and the emitting tube 430 is tightly attached to the end face of the nozzle 410, so as to form a closed space. And compressed air is sprayed out through the control of a pneumatic system to spray out the badminton.
Walking: the wheels 520 are driven to rotate through the gear change device 510 under the control of a motor. When one group of wheels works, the front and rear pairs of wheels alternately touch the ground, so that the speed is ensured to be stable and uniform. When reversing, the time that the two groups of wheels are disconnected and connected with the clutch is controlled, the double-slider mechanism in the locking mechanism 530 moves under the control of the clutch, the upper slider of the shearing fork mechanism moves upwards, and the left shearing fork and the right shearing fork are tightened to lock the wheels by the spring reset. After the clutch is released, the gap part of the incomplete wheel faces the ground, namely the wheel is placed and separated from the ground. The other group of wheels are in contact transmission with the ground, so that the reversing is realized. The sliding block part of the braking device 540 is a rubber block, and when braking, the sliding block moves to a bottom dead center position, contacts with the ground and generates a certain compression amount, and generates a large positive pressure so as to provide friction force and quickly brake.
Gap rotation: the motor 610 controls the driving mechanism 630 to drive the driving mechanism 630 to rotate at a constant speed, so that the driving mechanism 630 becomes the intermittent motion of the driven mechanism 640. The fourth grooved pulley driven mechanism 640 directly drives the third pinion 650, the third large gear 660 is meshed to obtain clearance rotation with lower rotation speed, and the large gear transmits motion to the barrel 670, so that shuttlecocks in the barrel 670 are put one by one.
Clamping: the rotation guide 720 is controlled to rotate by a small motor inside the second base plate 710. The pneumatic telescoping rod 730, the third link 740, the rocker 750, and the clamp body 760 form a slider-crank mechanism. The movement of the pneumatic telescoping rod 730, driven by the third link 740, becomes the gripping action of the rocker 750.
In general, the service robot is placed in a specific location when the work is ready. After starting to work, the running gear 5 works, after moving to the appointed position, the lifting device 3 works immediately, after lifting to the appointed position, the horizontal steering device 1 and the space pitching device 2 work simultaneously, so that the ball outlet axis moves to the appointed position and angle, the badminton clamping device 7 works, the badminton is clamped and sent to the nozzle position of the badminton service device 4, the badminton service device 4 serves the ball, and meanwhile the gap rotating mechanism 6 works to rotate the ball barrel to the next ball outlet. After the ball serving is completed, the traveling device 5 moves to the next working position. After all the works are finished, the lifting device 3 descends to the original position, the horizontal steering device 1 and the space pitching device 2 are reset at the same time, and the running gear 5 works and moves back to the original position.
Claims (1)
1. The novel badminton pitching machine is characterized by mainly comprising a horizontal steering mechanism (1), a space pitching mechanism (2), a lifting mechanism (3), a pitching device (4), a traveling device (5), a ball barrel intermittent rotating device (6) and a badminton clamping device (7);
the walking device (5) is positioned at the bottom of the ball dispenser, contacts with the ground and plays a role in movement; the lifting mechanism (3) is positioned above the traveling device (5), and the base of the lifting mechanism is fixedly connected with the shell of the traveling device (5) and is used for lifting and lowering the upper part of the lifting mechanism; the horizontal steering mechanism (1) is positioned on the lifting mechanism (3), is fixedly connected to the top of the lifting mechanism (3) through a frame, and controls the ball dispenser to rotate in a horizontal plane; the frame of the space pitching mechanism (2) is fixedly connected above the horizontal steering mechanism (1) and is used for rotating in a vertical plane; the service device (4) is fixedly connected above the space pitching mechanism (2) and plays a role in launching the shuttlecock; the ball barrel intermittent rotating device (6) is positioned below the ball barrel and is used for rotating the ball barrel and uniformly taking balls, and the ball barrel is positioned at the top end of the whole ball dispenser; the badminton clamping device (7) is positioned below the badminton barrel intermittent rotating device (6) and fixedly connected with the shell, and plays a role in clamping the badminton and sending the badminton into the serving channel; the shell is a service robot shell or support part and serves as a service robot rack part;
the horizontal steering mechanism (1) is a planetary reduction gear and mainly comprises a steering platform (110), a main shaft (120), a bearing (130), an inner gear body (140), a first pinion (150), a first large gear (160) and a first servo motor (170); the inner gear body (140) is connected to the steering platform (110) through bolts and nuts; the first servo motor (170) is connected to three outer edges of the main shaft (120) through screws, and an output shaft of the first servo motor (170) penetrates through holes in the outer edges and is used for driving the first pinion (150); one end of a main shaft (120) is connected with an inner gear body (140) through a bearing (130), the main shaft (120) is connected with a first large gear (160) through a flat key, and the other end of the main shaft (120) is connected with a bracket (220) through threads; the internal gear body (140), the first pinion (150), the first large gear (160) and the main shaft (120) form a planetary gear train, and the planetary gear train has the function of changing the ball serving direction in the horizontal plane, and has accurate transmission and quick response;
the space pitching mechanism (2) is a crank rocker mechanism and mainly comprises a crank (210), a bracket (220), a ball serving platform (230), a first connecting rod (240), a second servo motor (250), a second pinion (260), a second large gear (270) and a rotating shaft (280); two ends of the crank (210) are respectively hinged with the bracket (220) and the service platform (230); the first connecting rod (240) is also hinged with the bracket (220) and the service platform (230); the second servo motor (250) transmits power to the rotating shaft (280) through the second pinion (260) and the second large gear (270), and the rotating shaft (280) is connected with the crank (210) through interference fit to drive the crank (210) to swing back and forth; the mechanism is used for changing the pitching degree of the ball serving direction, has a simple structure, and can be laid flat at ordinary times to save space;
the lifting mechanism (3) is a multi-stage fork shearing mechanism and mainly comprises a steering platform (110), a base (310), a second connecting rod (320), a sliding rod (330), a linear motor (340), a pin shaft (350) and a rod (360); the second connecting rods (320) and the sliding rods (330) form a revolute pair, and the second connecting rods (320) are connected through pin shafts (350); the two ends of the sliding rod (330) are fixedly connected with the linear motor (340), and under the driving action of the linear motor (340), the second connecting rod (320) and the sliding rod (330) move along with each other to jack up the steering platform (110) and change the service height; the mechanisms at the two sides are symmetrically arranged, and the middle is connected by a rod (360);
the service device (4) mainly comprises a spray head (410), a transmitting tube (420), a sliding rail (430) and pneumatic accessories; the spray head (410) and the slide rail (430) are arranged on the service platform (230), and electromagnets are attached to the end face of the transmitting pipe (420) and the end face of the spray head (410); the change in polarity of the electromagnet causes the emitter tube (420) to be proximate to or remote from the spray head (410); the badminton is arranged in front of the nozzle (410) by a manipulator, the nozzle (410) is connected with an air compressor, so that compressed air is sprayed out of the nozzle to push the badminton to fly out at a high speed;
the walking device (5) mainly comprises a gear speed changing device (510), an incomplete wheel (520), a locking device (530), a braking device (540) and a peripheral angle universal wheel;
the gear speed changing device (510) mainly comprises a motor (511), a planetary gear train (512), a first bevel gear (513) and a second bevel gear (514); an output shaft of the motor (511) is fixedly connected with an input shaft of a first bevel gear (513), an output shaft of the first bevel gear (513) is fixedly connected with an input shaft of a planetary gear train (512), and an output shaft of the planetary gear train (512) is fixedly connected with a second bevel gear (514); when the motor (511) works, a certain rotating speed is input, and the motor is input into a next device after the speed is changed through a first bevel gear (513), a planetary gear train (512) and a second bevel gear (514), so that the motor has a deceleration function;
the incomplete wheel (520) mainly comprises three wheels and two clutches, one end of a first clutch (521) is connected with an output shaft of a second bevel gear (514), the other end of the first clutch is connected with a first wheel (522), the first wheel (522) is completely overlapped and fixedly connected with the end face of a second wheel (523), and a third wheel (525) is connected with the shaft of the second wheel (523) through a second clutch (524); when the device works, the included angle between the notch directions of the first wheel (522), the second wheel (523) and the third wheel (525) is 180 degrees, and the alternating touchdown realizes uniform speed; when the device does not work, the device is lifted off the ground at the same time, and the included angle between the notch directions is 0 degree;
the locking device (530) is mainly formed by connecting a double-slide-block mechanism and a scissor mechanism in series, and the first clutch (521) and the second clutch (524) respectively serve as slide block parts in the double-slide-block mechanism; the two-group double-slider mechanism comprises a five-one connecting rod (531), a five-one slider (532), a five-two connecting rod (535) and a five-two slider (536), wherein one end of the five-one connecting rod (531) is hinged on a side shaft of the first clutch (521), one end of the five-two connecting rod (535) is hinged on a side shaft of the second clutch (524), the other ends of the two connecting rods are respectively hinged with the five-one slider (532) and the five-two slider (536), and the five-one slider (532) and the five-two slider (536) slide on a slide rail formed by the five-one scissor connecting rod (533) and the five-one scissor connecting rod (534) and a slide rail formed by the five-two scissor connecting rod (537) and the five-two scissor connecting rod (538) respectively; the two sets of shearing fork mechanisms comprise a five-one shearing fork connecting rod I (533), a five-one shearing fork connecting rod II (534), a five-two shearing fork connecting rod I (537) and a five-two shearing fork connecting rod II (538), wherein the five-one shearing fork connecting rod I (533) and the five-one shearing fork connecting rod II (534) are hinged and hinged on a supporting frame (539); the fifth two scissors linkage (537) is hinged with the fifth two scissors linkage (538) and is hinged on the support frame (539); the first shearing fork mechanism is used for holding the first wheel (522) and the second wheel (523) after the first wheel (522) and the second wheel (523) are placed to leave the ground in the reversing process, so that the two wheels are in a ground leaving state, and the second shearing fork mechanism is used for holding the third wheel (525) after the third wheel (525) is placed to leave the ground in the reversing process, so that the third wheel is in the ground leaving state; when the clutch is in operation, after the two clutches are disconnected, the five-one connecting rod (531) and the five-two connecting rod (535) respectively drive the five-one sliding block (532) and the five-two sliding block (536) to move upwards, so that the five-one scissor connecting rod I (533), the five-one scissor connecting rod II (534), the five-two scissor connecting rod I (537) and the five-two scissor connecting rod II (538) in the scissor mechanism are reset under the action of a spring to realize rotation, the scissor mechanism is tightened to realize locking, and the support frame (539) is fixedly connected with the shell; the incomplete wheels (520) and the locking devices (530) are respectively shared in two groups, when the two groups are arranged, the axes of the incomplete wheels (520) in the two groups form an included angle of 90 degrees, and the incomplete wheels are controlled by a clutch to alternately work so as to realize the reversing function;
the braking device (540) is arranged at the periphery of the walking device (5) and is a crank slide block mechanism; the brake top plate (544) is fixedly connected with the shell, the five-four crank (541) is hinged with the brake top plate (544), the five-four crank (541) is connected with the power device, two ends of the five-four connecting rod (542) are respectively hinged with the five-four crank (541) and the five-four sliding block (543), the five-four crank (541) and the five-four connecting rod (542) are in four groups, and the five-four sliding blocks (543) are uniformly distributed on the brake top plate (544) to limit the linear movement of the five-four sliding block (543); when the device works, the power device enables the five-four crank (541) to rotate, the five-four connecting rod (542) drives the five-four sliding block (543) to be pressed with the ground at the bottom dead center position, and larger friction force is generated by larger positive pressure and is braked by friction; the peripheral angle universal wheels are arranged at four corners of the walking device, and the top of the peripheral angle universal wheels are fixedly connected with the shell to play an auxiliary movement role;
the ball cylinder intermittent rotating device (6) is a gap mechanism realized by a grooved pulley mechanism and a gear mechanism, and mainly comprises a third servo motor (610), a first bottom plate (620), a quarter grooved pulley driving mechanism (630), a quarter grooved pulley driven mechanism (640), a third pinion (650), a third large gear (660) and a ball cylinder (670); the third servo motor (610), the quarter sheave driving mechanism (630) and the quarter sheave driven mechanism (640) are all fixed on the first bottom plate (620) through bolts; the third servo motor (610) directly drives the quarter-grooved pulley driving mechanism (630), and the quarter-grooved pulley driving mechanism (630) drives the quarter-grooved pulley driven mechanism (640) at intervals; the quarter-grooved pulley driven mechanism (640) is in key connection with the third pinion (650), the third large gear (660) is meshed with the third pinion (650), and intermittent rotation is transmitted to the ball barrel (670) through the third large gear (660), so that the clearance rotation of the ball barrel (670) is realized;
the badminton clamping device (7) mainly comprises a second bottom plate (710), a rotating guide rod (720), a pneumatic telescopic rod (730), a third connecting rod (740), a rocker (750) and a clamp body (760); the second bottom plate (710) is fixed on the shell through a bolt, a small motor in the second bottom plate (710) controls the rotation guide rod (720) to rotate, the pneumatic telescopic rod (730) and the rotation guide rod (720) form a moving pair, and the third connecting rod (740) and the rocker (750) are connected to the clamp body (760) through a hinge; thereby realizing that the badminton clamping device (7) clamps the badminton and rotates for a certain angle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810964855.4A CN108686361B (en) | 2018-08-23 | 2018-08-23 | Novel badminton service robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810964855.4A CN108686361B (en) | 2018-08-23 | 2018-08-23 | Novel badminton service robot |
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| CN108686361A CN108686361A (en) | 2018-10-23 |
| CN108686361B true CN108686361B (en) | 2023-09-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109331450B (en) * | 2018-12-03 | 2021-06-29 | 湖南商学院 | Multi-angle pneumatic badminton spraying service robot |
| CN114344852B (en) * | 2021-12-23 | 2022-10-14 | 新乡医学院 | Training ground is with semi-automatic collection device of badminton |
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| CN101433756A (en) * | 2008-12-03 | 2009-05-20 | 谭光明 | Automatic pitching machine |
| KR20110018686A (en) * | 2009-08-18 | 2011-02-24 | 김경수 | Badminton exercise device |
| CN102416248A (en) * | 2011-12-27 | 2012-04-18 | 哈尔滨师范大学 | Table tennis training device |
| CN202920941U (en) * | 2012-12-05 | 2013-05-08 | 吉林大学 | Intelligent shuttlecock emitter |
| CN107596666A (en) * | 2017-09-21 | 2018-01-19 | 西南大学 | A kind of triangle posture badminton service robot with arrangement function |
| CN107596665A (en) * | 2017-09-21 | 2018-01-19 | 西南大学 | A kind of badminton service robot with arrangement function |
| CN208694213U (en) * | 2018-08-23 | 2019-04-05 | 大连理工大学 | A kind of novel badminton pitching machine |
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- 2018-08-23 CN CN201810964855.4A patent/CN108686361B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190326068A (en) * | 1903-11-28 | 1904-11-24 | Ernst Gustav Meyer | Improvements in Variable Speed Gear for Motor Propelled Vehicles. |
| CN101433756A (en) * | 2008-12-03 | 2009-05-20 | 谭光明 | Automatic pitching machine |
| KR20110018686A (en) * | 2009-08-18 | 2011-02-24 | 김경수 | Badminton exercise device |
| CN102416248A (en) * | 2011-12-27 | 2012-04-18 | 哈尔滨师范大学 | Table tennis training device |
| CN202920941U (en) * | 2012-12-05 | 2013-05-08 | 吉林大学 | Intelligent shuttlecock emitter |
| CN107596666A (en) * | 2017-09-21 | 2018-01-19 | 西南大学 | A kind of triangle posture badminton service robot with arrangement function |
| CN107596665A (en) * | 2017-09-21 | 2018-01-19 | 西南大学 | A kind of badminton service robot with arrangement function |
| CN208694213U (en) * | 2018-08-23 | 2019-04-05 | 大连理工大学 | A kind of novel badminton pitching machine |
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