CN108837470A - A kind of movable type tennis service machine people - Google Patents
A kind of movable type tennis service machine people Download PDFInfo
- Publication number
- CN108837470A CN108837470A CN201810823047.6A CN201810823047A CN108837470A CN 108837470 A CN108837470 A CN 108837470A CN 201810823047 A CN201810823047 A CN 201810823047A CN 108837470 A CN108837470 A CN 108837470A
- Authority
- CN
- China
- Prior art keywords
- transmitting tube
- motor
- friction pulley
- backup pad
- stepper motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000013461 design Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 2
- 230000004992 fission Effects 0.000 claims 1
- 230000003028 elevating effect Effects 0.000 description 3
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
- A63B69/406—Stationarily-arranged devices for projecting balls or other bodies with rotating discs, wheels or pulleys gripping and propelling the balls or bodies by friction
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/38—Training appliances or apparatus for special sports for tennis
-
- 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
- A63B2069/402—Stationarily-arranged devices for projecting balls or other bodies giving spin
Abstract
A kind of movable type tennis service machine people,The application wheel electrical machine is fixed on four angles of vehicle body main body,Wheel electrical machine is equipped with wheel,Lower supporting plate is fixedly mounted in vehicle body main body,Motor is moved left and right in vehicle body main body,There is upper backup pad on lower supporting plate,There is rotation sliding plate bracket between lower supporting plate and upper backup pad,Bullet bin bracket is fixedly mounted on upper backup pad,Bullet bin bracket side moves up and down stepper motor,Transmitting tube supports the axis of one end to be connected with the shaft for moving up and down stepper motor,Transmitting tube supports the axis of the other end to pass through the shell for corresponding to bullet bin bracket,Transmitting tube support bottom is equipped with transmitting tube,There is ball storehouse in transmitting tube support,Transmitting tube has piston in rear end,Piston is connected by piston mobile bar with four-bar mechanism motor,Respectively there are a friction pulley in transmitting tube two sides,Friction pulley is mounted on friction pulley stepper motor.The present patent application may be implemented to move freely on billiard table, substantially increase the variability and interest of service.
Description
Technical field
The present invention relates to tennis ancillary equipment fields, more particularly to a kind of mobile tennis service machine people.
Background technique
Tennis is one of favorite ball game of the people of the world, and with the continuous development of science and technology, many teams use phase
The pitching robot answered, to cooperate sportsman to be trained, currently used pitching robot mainly uses roller type, locomotivity
Limited, service situation is more single still very big defect compared with artificial service, and challenge also tends to not enough by force, need thus
It designs that a kind of high locomotivity of freedom degree is strong, the pitching robot of a variety of service situations may be implemented.
Summary of the invention
For problem above, the present invention provides a kind of mobile tennis service machine people, may be implemented on billiard table freely
It is mobile, the variability and interest of service are substantially increased, and done improvement in service principle and improved service efficiency, increased
The diversity of ball camber line and rotation type is issued, for this purpose, the present invention provides a kind of mobile tennis service machine people,
Including ball storehouse, move up and down stepper motor, transmitting tube support, transmitting tube, friction pulley, friction pulley stepper motor, bullet bin bracket,
Rotation sliding plate bracket, lower supporting plate, lifting device, moves left and right motor, vehicle body main body, vehicle body fixed plate, wheel at upper backup pad
Motor, piston, piston mobile bar and four-bar mechanism motor, there are four the wheel electrical machines, and the wheel electrical machine is solid by vehicle body
Fixed board is fixed on four angles of vehicle body main body, and the shaft of the wheel electrical machine is equipped with wheel, four angles of the lower supporting plate
It is fixedly mounted in vehicle body main body by support frame, moves left and right motor in the vehicle body main body, it is described to move left and right motor
Shaft pass through upper backup pad, have upper backup pad on the lower supporting plate, have rotation between the lower supporting plate and upper backup pad
Sliding plate bracket, the rotation sliding plate support casing are mounted in the shaft for moving left and right motor, and the bullet bin bracket is fixedly mounted on
On upper backup pad, bullet bin bracket side moves up and down stepper motor, and the shaft for moving up and down stepper motor is worn
One side body of bullet bin bracket is crossed, the transmitting tube supports the axis of one end to be connected with the shaft for moving up and down stepper motor, described
Transmitting tube supports the axis of the other end to pass through the shell for corresponding to bullet bin bracket, and transmitting tube support bottom is equipped with transmitting tube,
There is ball storehouse in the transmitting tube support, the lower mouth of the ball storehouse passes through transmitting tube and supports to transmitting tube, in the transmitting tube rear end
There is piston, the piston is connected by piston mobile bar with four-bar mechanism motor, and respectively there are a friction pulley in the transmitting tube two sides,
The friction pulley is mounted in the shaft of corresponding friction pulley stepper motor, the friction pulley stepper motor and four-bar mechanism motor peace
On upper backup pad.
Further improvement of the present invention, the wheel are Mecanum wheel, and a variety of sides may be implemented using Mecanum wheel
Formula is mobile, so that movement is more flexible.
Further improvement of the present invention, support frame as described above are lifting device, are provided with lifting device in the vehicle body main body
Power source, design lifting device can be in order to integral elevating.
Further improvement of the present invention, the rotation sliding plate bracket is using seperated design by bearing sliding plate one and bearing sliding plate
Two sliding plate nestings form inside and outside two, so high good heat dissipation of design structure intensity.
Further improvement of the present invention, the four-bar mechanism machine shaft is connected with limit plate one end, in the transmitting tube
Fluted, the limit plate is passed through from groove, and the limit plate other end drives limit plate backward in transmitting tube, through motor
When mobile, limit plate will be erected by groove to block tennis.
A kind of mobile tennis service machine people of the present invention, the robot primary structure include walking mechanism, tennis storage
Storehouse, tennis launching tube, friction pulley and lifting device, wherein：
Walking mechanism：Mecanum wheel is based primarily upon as tennis mobile mechanism and realizes that tennis service machine people is entirely square in tennis platform
To flexible motion, training mode is more compared with fixed service robot, also stronger for the challenge of trainer.Each Mike
All there is individual power source and fixed device in Na Mu wheel, make body bottom more robust flexible.
Tennis storage warehouse：Robot uses plastic canister as tennis storage warehouse, use different from traditional buffering chamber
Plastic canister as component, material is easy to get and at low cost, while can satisfy the functional requirement of component again, and it is non-can to store quantity
Often more tennis, it is most important that replaceability is stronger, is such as damaged, its substitution can be realized in the second-hand plastic tank of household.
Tennis launching tube：Use the freedom for the both direction that two stepper motors and bearing sliding plate allow pang ball emitting cylinder to have
Degree, can both adjust the angle the ball for emitting different camber lines up and down, can also control all standing for adjusting the angle and realizing tennis platform drop point.
Friction pulley：Launching tube or so is respectively furnished with a friction pulley, and basic function, which is to emit for tennis, provides power source, simultaneously
Left and right friction pulley respectively corresponds a control motor, and two motors are mutually indepedent, and revolving speed is adjustable.It can be with by the rotational speed differences of two motors
Realize the transmitting of the screws such as hook Slice.
Lifting device：Robot mainly pass through hydraulic control elevating mechanism, it can be achieved that robot variation, also for
The increase of course of action variability can greater room.The piston-cylinder of hydraulicefficiency elevation structure also enables longitudinal anti-collision of robot obtain
It improves.
Detailed description of the invention
Fig. 1 is schematic diagram of the present invention；
Fig. 2 is main view of the present invention；
Fig. 3 is top view of the present invention；
Fig. 4 is side view of the present invention；
Fig. 5 is internal structure chart of the present invention；
In figure：1. ball storehouse, 2. move up and down stepper motor, the support of 3. transmitting tubes, 4. transmitting tubes；5. friction pulley；6. friction pulley walks
Into motor；7. bullet bin bracket；8. bearing sliding plate one；9. bearing sliding plate two；10. upper backup pad；11. lower supporting plate；12. liter
Falling unit；13. moving left and right motor；14. vehicle body main body；15. vehicle body fixed plate；16. wheel electrical machine；17. Mecanum wheel；
18, piston；19, piston mobile bar；20, limit plate；21, four-bar mechanism motor；22, lifting device power source.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing：
The present invention provides a kind of mobile tennis service machine people, is based primarily upon Mecanum wheel as walking mechanism, Ke Yishi
It is moved freely on present billiard table, substantially increases the variability and interest of service, and done improvement in service principle and improved
Service efficiency increases the diversity for issuing ball camber line and rotation type.
As an embodiment of the present invention, the present invention provides a kind of mobile tennis service machine people, including ball storehouse 1, on
Lower mobile stepper motor 2, transmitting tube support 3, transmitting tube 4, friction pulley 5, friction pulley stepper motor 6, bullet bin bracket 7, rotation
Sliding plate bracket, lower supporting plate 11, lifting device 12, moves left and right motor 13, vehicle body main body 14, vehicle body and fixes upper backup pad 10
Plate 15, wheel electrical machine 16, piston 18, piston mobile bar 19 and four-bar mechanism motor 21, there are four the wheel electrical machines 16, described
Wheel electrical machine 16 is fixed on four angles of vehicle body main body 14 by vehicle body fixed plate 15, and the shaft of the wheel electrical machine 16 is equipped with
Four angles of wheel, the lower supporting plate 11 are fixedly mounted in vehicle body main body 14 by support frame, in the vehicle body main body 14
Move left and right motor 13, the shaft for moving left and right motor 13 passes through upper backup pad 10, have on the lower supporting plate 11 on
Support plate 10, there is rotation sliding plate bracket between the lower supporting plate 11 and upper backup pad 10, the rotation sliding plate support casing is mounted in
In the shaft for moving left and right motor 13, the bullet bin bracket 7 is fixedly mounted on upper backup pad 10, the bullet bin bracket 7
Side moves up and down stepper motor 2, and the shaft for moving up and down stepper motor 2 passes through 7 one side body of bullet bin bracket, institute
Stating transmitting tube supports the axis of 3 one end to be connected with the shaft for moving up and down stepper motor 2, and the transmitting tube supports the axis of 3 other ends
Across the shell of corresponding bullet bin bracket 7, the transmitting tube supports 3 bottoms to be equipped with transmitting tube 4, and the transmitting tube supports on 3
There is ball storehouse 1, the lower mouth of the ball storehouse 1 has piston 18, institute in transmitting tube support 3 to transmitting tube 4,4 rear end of transmitting tube
Piston 18 to be stated to be connected by piston mobile bar 19 with four-bar mechanism motor 21, respectively there are a friction pulley 5 in 4 two sides of transmitting tube,
The friction pulley 5 is mounted in the shaft of corresponding friction pulley stepper motor 6, the friction pulley stepper motor 6 and four-bar mechanism electricity
Machine 21 is mounted on upper backup pad 10.
As a kind of specific embodiment of the present invention, the present invention provides a kind of mobile tennis service machine as shown in Figs. 1-5
People, including ball storehouse 1, move up and down stepper motor 2, transmitting tube support 3, transmitting tube 4, friction pulley 5, friction pulley stepper motor 6, son
Magazine bracket 7, upper backup pad 10, lower supporting plate 11, lifting device 12, moves left and right motor 13, vehicle body master at rotation sliding plate bracket
Body 14, vehicle body fixed plate 15, wheel electrical machine 16, piston 18, piston mobile bar 19 and four-bar mechanism motor 21, the wheel electrical machine
There are four 16, the wheel electrical machine 16 is fixed on four angles of vehicle body main body 14, the wheel electrical machine by vehicle body fixed plate 15
16 shaft is equipped with wheel, and the wheel is Mecanum wheel 17, and various ways movement may be implemented using Mecanum wheel,
To which movement is more flexible, four angles of the lower supporting plate 11 are fixedly mounted in vehicle body main body 14 by support frame, described
Support frame is lifting device 12, is provided with lifting device power source 22 in the vehicle body main body 14, and design lifting device can be so as to
In moving left and right motor 13 on integral elevating, the vehicle body main body 14, the shaft for moving left and right motor 13 passes through upper branch
Fagging 10 has upper backup pad 10 on the lower supporting plate 11, has rotation sliding plate between the lower supporting plate 11 and upper backup pad 10
Bracket, the rotation sliding plate bracket it is nested with two sliding plates inside and outside bearing sliding plate 29 by bearing sliding plate 1 using seperated design and
At so high good heat dissipation of design structure intensity, the rotation sliding plate support casing is mounted in the shaft for moving left and right motor 13, described
Bullet bin bracket 7 is fixedly mounted on upper backup pad 10, and 7 side of bullet bin bracket moves up and down stepper motor 2, described
The shaft for moving up and down stepper motor 2 passes through 7 one side body of bullet bin bracket, and the transmitting tube supports the axis and up and down of 3 one end
The shaft of mobile stepper motor 2 is connected, and the transmitting tube supports the axis of 3 other ends to pass through the shell for corresponding to bullet bin bracket 7, institute
Stating transmitting tube supports 3 bottoms to be equipped with transmitting tube 4, has ball storehouse 1 in the transmitting tube support 3, the lower mouth of the ball storehouse 1 passes through hair
Pipe support 3 is penetrated to transmitting tube 4, there is piston 18 in 4 rear end of transmitting tube, the piston 18 passes through piston mobile bar 19 and four bars
Mechanism motor 21 is connected, and respectively there are a friction pulley 5 in 4 two sides of transmitting tube, and the friction pulley 5 is mounted on corresponding friction pulley stepping
In the shaft of motor 6, the friction pulley stepper motor 6 and four-bar mechanism motor 21 are mounted on upper backup pad 10, four bar
21 shaft of mechanism motor is connected with 20 one end of limit plate, fluted in the transmitting tube 4, and the limit plate 20 is passed through from groove,
20 other end of limit plate is in transmitting tube 4, and when driving limit plate to move backward by motor, limit plate is by recessed
Slot will erect to block tennis.
The above described is only a preferred embodiment of the present invention, being not the limit for making any other form to the present invention
System, and made any modification or equivalent variations according to the technical essence of the invention, still fall within present invention model claimed
It encloses.
Claims (5)
1. a kind of movable type tennis service machine people, including ball storehouse（1）, move up and down stepper motor（2）, transmitting tube support（3）,
Transmitting tube（4）, friction pulley（5）, friction pulley stepper motor（6）, bullet bin bracket（7）, rotation sliding plate bracket, upper backup pad
（10）, lower supporting plate（11）, lifting device（12）, move left and right motor（13）, vehicle body main body（14）, vehicle body fixed plate（15）,
Wheel electrical machine（16）, piston（18）, piston mobile bar（19）With four-bar mechanism motor（21）, it is characterised in that：The wheel electricity
Machine（16）There are four, the wheel electrical machine（16）Pass through vehicle body fixed plate（15）It is fixed on vehicle body main body（14）Four angles, institute
State wheel electrical machine（16）Shaft wheel, the lower supporting plate are installed（11）Four angles vehicle is fixedly mounted on by support frame
Body main body（14）On, the vehicle body main body（14）On move left and right motor（13）, described to move left and right motor（13）Shaft
Across upper backup pad（10）, the lower supporting plate（11）On have upper backup pad（10）, the lower supporting plate（11）With upper backup pad
（10）Between have rotation sliding plate bracket, the rotation sliding plate support casing be mounted in move left and right motor（13）Shaft on, the son
Magazine bracket（7）It is fixedly mounted on upper backup pad（10）On, the bullet bin bracket（7）Side moves up and down stepper motor
（2）, described to move up and down stepper motor（2）Shaft pass through bullet bin bracket（7）One side body, the transmitting tube support（3）
The axis of one end and move up and down stepper motor（2）Shaft be connected, transmitting tube support（3）The axis of the other end passes through corresponding son
Magazine bracket（7）Shell, transmitting tube support（3）Bottom is equipped with transmitting tube（4）, the transmitting tube support（3）On have
Ball storehouse（1）, the ball storehouse（1）Lower mouth across transmitting tube support（3）To transmitting tube（4）, the transmitting tube（4）There is work in rear end
Plug（18）, the piston（18）Pass through piston mobile bar（19）With four-bar mechanism motor（21）It is connected, the transmitting tube（4）Two sides
Respectively there is a friction pulley（5）, the friction pulley（5）It is mounted on corresponding friction pulley stepper motor（6）Shaft on, the friction pulley
Stepper motor（6）With four-bar mechanism motor（21）It is mounted on upper backup pad（10）On.
2. a kind of mobile tennis service machine people according to claim 1, it is characterised in that：The wheel is received for Mike
Nurse wheel（17）.
3. a kind of mobile tennis service machine people according to claim 1, it is characterised in that：Support frame as described above is lifting
Device（12）, the vehicle body main body（14）On be provided with lifting device power source（22）.
4. a kind of mobile tennis service machine people according to claim 1, it is characterised in that：The rotation sliding plate bracket
Using fission design by bearing sliding plate one（8）With bearing sliding plate two（9）Inside and outside two sliding plate nestings form.
5. a kind of mobile tennis service machine people according to claim 1, it is characterised in that：The four-bar mechanism motor
（21）Shaft and limit plate（20）One end is connected, the transmitting tube（4）It is interior fluted, the limit plate（20）It is passed through from groove,
The limit plate（20）The other end is in transmitting tube（4）It is interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823047.6A CN108837470A (en) | 2018-07-25 | 2018-07-25 | A kind of movable type tennis service machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823047.6A CN108837470A (en) | 2018-07-25 | 2018-07-25 | A kind of movable type tennis service machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108837470A true CN108837470A (en) | 2018-11-20 |
Family
ID=64192124
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810823047.6A Pending CN108837470A (en) | 2018-07-25 | 2018-07-25 | A kind of movable type tennis service machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108837470A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111298418A (en) * | 2020-04-09 | 2020-06-19 | 黑龙江中医药大学 | Tennis emitter |
| CN112057829A (en) * | 2020-07-03 | 2020-12-11 | 张新宇 | Big data table tennis trainer |
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| CN105561564A (en) * | 2016-02-17 | 2016-05-11 | 杨帆 | Racket-free tennis partner training device |
| CN205460859U (en) * | 2016-03-07 | 2016-08-17 | 常州大学 | Tennis training aid with automatica serve function |
| CN106924955A (en) * | 2017-03-01 | 2017-07-07 | 三峡大学 | A kind of tennis service machine people of Omni-mobile and application method |
| CN107050799A (en) * | 2016-12-29 | 2017-08-18 | 刘东昇 | A kind of football long pass service robot |
| CN107349586A (en) * | 2017-08-21 | 2017-11-17 | 郑州大学 | A kind of tennis ball serving device for physical education training |
| CN207168993U (en) * | 2017-06-24 | 2018-04-03 | 天水师范学院 | A kind of tennis service device |
| CN208823916U (en) * | 2018-07-25 | 2019-05-07 | 江苏第二师范学院（江苏省教育科学研究院） | A kind of movable type tennis service machine people |
-
2018
- 2018-07-25 CN CN201810823047.6A patent/CN108837470A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105561564A (en) * | 2016-02-17 | 2016-05-11 | 杨帆 | Racket-free tennis partner training device |
| CN205460859U (en) * | 2016-03-07 | 2016-08-17 | 常州大学 | Tennis training aid with automatica serve function |
| CN107050799A (en) * | 2016-12-29 | 2017-08-18 | 刘东昇 | A kind of football long pass service robot |
| CN106924955A (en) * | 2017-03-01 | 2017-07-07 | 三峡大学 | A kind of tennis service machine people of Omni-mobile and application method |
| CN207168993U (en) * | 2017-06-24 | 2018-04-03 | 天水师范学院 | A kind of tennis service device |
| CN107349586A (en) * | 2017-08-21 | 2017-11-17 | 郑州大学 | A kind of tennis ball serving device for physical education training |
| CN208823916U (en) * | 2018-07-25 | 2019-05-07 | 江苏第二师范学院（江苏省教育科学研究院） | A kind of movable type tennis service machine people |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111298418A (en) * | 2020-04-09 | 2020-06-19 | 黑龙江中医药大学 | Tennis emitter |
| CN111298418B (en) * | 2020-04-09 | 2021-04-16 | 黑龙江中医药大学 | Tennis emitter |
| CN112057829A (en) * | 2020-07-03 | 2020-12-11 | 张新宇 | Big data table tennis trainer |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181120 |
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| RJ01 | Rejection of invention patent application after publication |