CN109833617A - A kind of smart table tennis service robot - Google Patents
A kind of smart table tennis service robot Download PDFInfo
- Publication number
- CN109833617A CN109833617A CN201910078640.7A CN201910078640A CN109833617A CN 109833617 A CN109833617 A CN 109833617A CN 201910078640 A CN201910078640 A CN 201910078640A CN 109833617 A CN109833617 A CN 109833617A
- Authority
- CN
- China
- Prior art keywords
- axis
- drive section
- limit switch
- rotation
- table tennis
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of smart table tennis service robots, including the service chain-drive section that can be rotated around Y-axis, the front end of the service chain-drive section is equipped with the motor of serving wheel and the driving serving wheel rotation, the rear end of the service chain-drive section is equipped with clump weight, and the center of gravity of the service chain-drive section and the rotation centerline of Y-axis are located in same vertical plane.Under the action of clump weight, readjust the center of gravity of entire service chain-drive section, so that the rotation centerline of its center of gravity and Y-axis is located in same vertical plane, ensure to serve a ball chain-drive section when rotating and reverse around Y-axis, the resistance overcome needed for its driving motor is consistent, is on the one hand conducive to extend the service life of motor；On the other hand, the revolving speed that ensure that service chain-drive section is rotated and reverse around Y-axis as far as possible is consistent, brings good experience to user.
Description
Technical field
The present invention relates to sports equipment technical field, in particular to a kind of smart table tennis service robot.
Background technique
In order to which the person that meets table tennis training or entertainer are to the needs of screw, typically by table tennis ball serving
A pair of of serving wheel is arranged in the service chain-drive section front end of machine, when table tennis is by between two serving wheels, turns in the difference of serving wheel
Under speed, the screw of meet demand can be produced.
Since two serving wheels need the independent respective revolving speed of control, it is therefore desirable to provide two independent motors and come in fact
The driving of existing serving wheel.It is larger positioned at two serving wheels of service chain-drive section front end and the weight of two motors itself, cause
Service robot head weight is uneven, and center of gravity is located at the left side of Y rotary shaft.Since the weight of service chain-drive section front end is larger, work as hair
When ball machine is rotated forward around Y rotary shaft, the gravity auxiliary service robot of itself is rotated forward around Y rotary shaft, and then reduces electricity
The load of machine；When service robot is rotated backward around Y rotary shaft, the gravity of itself hinders service robot to rotate backward around Y rotary shaft,
And then increase the load of motor.This allow for service chain-drive section it is uncoordinated around the positive and negative rotation of Y rotary shaft, in rotation process
In, the revolving speed rotated and reverse is inconsistent, and bad experience is brought to user.Meanwhile it also influencing to a certain extent
The service life of motor.
Summary of the invention
The intelligence table tennis being located in Y rotary shaft technical problem to be solved by the invention is to provide a kind of service chain-drive section center of gravity
Pang ball service robot.
Used technical solution to solve above-mentioned technical problem: a kind of smart table tennis service robot, including can turn around Y-axis
Dynamic service chain-drive section, the front end of the service chain-drive section are equipped with the motor of serving wheel and the driving serving wheel rotation,
Be characterized in that: the rear end of the service chain-drive section is equipped with clump weight, the center of gravity of the service chain-drive section and the rotation centerline of Y-axis
In same vertical plane.
Further, the lower section of the service chain-drive section is equipped with pedestal, and the rear end of the pedestal is equipped with net collecting mechanism.
Further, the net collecting mechanism includes the transversal stretching frame being symmetrical set in base rear end, the transverse direction
The both ends of expansion bracket are equipped with movable part and fixed part, are equipped between the two transversal stretching framves and are connected to leading for base rear end portion
To bar, the guide rod is equipped with the adjusting block vertically moved back and forth, and the separate end of the two transversal stretching framves is respectively connected with
Vertical strut, the movable part positioned at the two transversal stretching frame phase proximal ends are hinged with adjusting block, are located at two transversal stretchings
Frame far from end movable part be slidably connected with vertical strut, the fixed part of the two transversal stretching framves respectively with guide rod and vertically
Strut is hinged；
The adjusting block is moved up and down, and then the movable part of the transversal stretching frame is driven to move up and down, realizes and laterally stretches
The transversal stretching of contracting frame.
Further, the transversal stretching frame includes the first axle and the second hinge being hingedly made of several hinge bar head and the tail
Chain, each hinge bar in the first axle are hinged with hinge bar corresponding in second hinge at middle part.
Further, the guide rod is U-shaped bar, and the U-shaped bar is fixed on the rear end of pedestal, the adjusting in standing upside down
The both ends of block are equipped with the slide opening being inserted into for U-shaped bar open end.
Further, a curved bar is connected at the top of the vertical strut.
Further, it is connected between the curved bar and vertical strut by articulated structure, the articulated structure includes upper boom
Set and lower loop bar, the upper boom are set on the lower end of curved bar, and the upper end of vertical strut is arranged in the lower loop bar, described
Portion is hinged so that upper rod set can be overturn in vertical plane on the outside for upper rod set and low stem casing, the upper rod set and lower beam
It is equipped with positioning column on the front end face of set, is connected with extension spring between the positioning column.
Further, the service chain-drive section includes shell, and the shell, which is equipped with, to be located at right above at the top of serving wheel
Services aperture, the aperture of the services aperture be greater than the diameter of serving wheel, and the services aperture, which is configured with, is isolated from the outside serving wheel
Service wheel cap.
Further, serving wheel side periphery interval is evenly distributed with a circle and counts tooth, the top for counting tooth
Equipped with infrared emission sensor, the infrared emission sensor and the motor are connect with MCU.
Further, the service chain-drive section is provided with limit switch, and the service chain-drive section includes can be around Y-axis and Z axis
First rotation section of rotation, first rotation section are connected with the second rotation section that can be turned about the X axis, in first rotation section
Equipped with T shape bracket, the transverse part of first rotation section and T shape bracket is rotatablely connected, and the bottom of first rotation section is equipped with
The vertical portion of pedestal, the T shape bracket is connect with base rotation, and the limit switch includes the first limit switch, the second limit
Switch and third limit switch, first limit switch are fixed at the first rotation section, the end face of second rotation section
Equipped with one section of arc groove around X-axis, first limit switch is stretched in arc groove, and second limit switch is fixed on
The transverse part of T shape bracket, first rotation section are set there are two the first block with the second limit switch configuration, and the third limits
Bit switch is fixed on pedestal, and the vertical portion of the T shape bracket sets that there are two the second blocks with third limit switch configuration.
The utility model has the advantages that the center of gravity of entire service chain-drive section is readjusted, so that its center of gravity and Y under the action of clump weight
The rotation centerline of axis is located in same vertical plane, it is ensured that service chain-drive section around Y-axis when rotating and reverse, driving electricity
The resistance overcome needed for machine is consistent, is on the one hand conducive to extend the service life of driving motor；On the other hand, guarantee as far as possible
The revolving speed that service chain-drive section is rotated and reverse around Y-axis is consistent, to user brings good experience.
Detailed description of the invention
The present invention is described further with reference to the accompanying drawings and examples:
Fig. 1 is that a kind of smart table tennis of the embodiment of the present invention is played ball the diagrammatic cross-section of machine；
Fig. 2 is the assembling schematic diagram of service wheel cap and shell in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of serving wheel revolution speed control system in the embodiment of the present invention；
Fig. 4 is net collecting mechanism and the integrated structural schematic diagram of table tenning ball servicing machine in the embodiment of the present invention；
Fig. 5 is the folded state schematic diagram of net collecting mechanism in the embodiment of the present invention；
Fig. 6 is the unfolded state schematic diagram of net collecting mechanism in the embodiment of the present invention；
Fig. 7 is the schematic view of the mounting position of the first limit switch in the embodiment of the present invention；
Fig. 8 is the schematic view of the mounting position of the second limit switch in the embodiment of the present invention；
Fig. 9 is the schematic view of the mounting position of third limit switch in the embodiment of the present invention；
Figure 10 is the layout diagram of electric wire in service chain-drive section in the embodiment of the present invention.
Specific embodiment
Referring to figs. 1 to Figure 10, a kind of smart table tennis service robot of the present invention, including the service chain-drive section that can be rotated around Y-axis
1, the motor 3 that the front end of service chain-drive section 1 is equipped with serving wheel 2 and serving wheel 2 is driven to rotate, wherein serving wheel 2 includes upper hair
Ball wheel and lower serving wheel, motor 3 and serving wheel 2 are coaxially disposed, for driving serving wheel 2 to rotate.The rear end of service chain-drive section 1 is set
There is clump weight 4, under the balance of clump weight 4, the center of gravity for chain-drive section 1 of serving a ball and the rotation centerline 5 of Y-axis are positioned at same vertical flat
In face.As shown in fig. 1, the rotation centerline 5 of Y-axis is perpendicular to the section.Preferably, clump weight 4 can be arranged by adjusting
Weight and position so that service chain-drive section 1 center of gravity fall on the rotation centerline 5 of Y-axis.
Be compared to the table tenning ball servicing machine that most of service 1 center of gravity of chain-drive section is located at front end, it is of the invention in, pass through counterweight
Block 4 readjusts the center of gravity of entire service chain-drive section 1, so that the rotation centerline 5 of its center of gravity and Y-axis is located at same vertical plane
It is interior, it is ensured that for service chain-drive section 1 when rotating and reverse around Y-axis, the resistance overcome needed for driving motor is consistent, on the one hand has
Conducive to the service life for extending driving motor；On the other hand, it ensure that service chain-drive section 1 is rotated and reverse around Y-axis as far as possible
Revolving speed it is consistent, bring good experience to user.
Preferably, service chain-drive section 1 includes shell 11, shell 11 is equipped with the dimension being located at right above 2 top of serving wheel
Guard aperture 12, the aperture of services aperture 12 are greater than the diameter of serving wheel 2, are provided at services aperture 12 serving wheel 2 and shell 11 is extraneous
The service wheel cap 3 of isolation.Since the surface of serving wheel 2 is flexible glue, belong to the accessory of loss-type, exposed easy aging, Jin Erjia
Speed loss；And having used long can follow the string, and frictional force can also weaken, this effect for allowing for service is had a greatly reduced quality.The structure
Design realizes the maintenance and replacement of serving wheel 2 convenient for smoothly taking out serving wheel 2.When serving wheel 2 needs to be serviced and replaces
When, the wheel cap 3 that only needs to serve a ball is opened, then will serving wheel 2 dismantle after take out from services aperture 12, then will after maintenance or
The serving wheel 2 newly replaced is placed in shell 11 through services aperture 12 and installation is fixed, and completes the maintenance and replacement of serving wheel 2.It is whole
In a maintenance replacement process, does not need to open the shell 11 of entire service chain-drive section 1, greatly reduce the workload of dismounting.
It also avoids when being only merely to need replacing serving wheel 2 that a large amount of components are exposed outside simultaneously, has prevented more
Other dysgenic generations such as dust pollution can be caused to other components by changing service while taking turns 2.
Specifically, services aperture 12 is designed as the round hole being adapted with serving wheel 2, and services aperture 12 and serving wheel 2
Concentric circles, the installation and removal for being easy to implement serving wheel 2 operate the circle being projected in same vertical plane each other.Services aperture 12
Periphery is symmetrically arranged with a pair of of concave indentation, and it includes surrounding to be connected to 12 edge of services aperture that service wheel cap 3 is formed in its bottom
Abutment ring and a pair of of convex block across concave indentation.Abutment ring is connected to the outer ledge of services aperture 12, convex block be connected to
It connects the lower part of ring and is abutted around the edge of services aperture 12 with the inside of services aperture 12.Meanwhile the top edge pair for wheel cap 3 of serving a ball
Title is provided with clamping part.When needing to cover tightly service wheel cap 3, convex block only need to be directed to concave indentation, and press service wheel cap 3,
So that abutment ring is connected to the outer ledge of services aperture 12.At this point, convex block passes through concave indentation, then had an effect by clamping part,
Rotation service wheel cap 3 realizes the fixed installation of service wheel cap 3 so that convex block is abutted with the inside edge of services aperture 12.Work as needs
When disassembly service wheel cap 3, service wheel cap 3 need to be only reversely rotated until convex block turns to concave indentation, then service wheel cap 3 is taken away
?.
Preferably, 2 side periphery interval of serving wheel, which is evenly distributed with a circle, counts tooth 21, the top for counting tooth 21 is equipped with
Infrared emission sensor 22, infrared emission sensor 22 and motor 3 are connected with MCU, form serving wheel revolution speed control system.Due to
The service frequency of table tenning ball servicing machine is very fast, when requiring serving wheel 2 to realize emergency stop within a short period of time and invert, serving wheel 2
By effect of inertia, cause the motor being connected with serving wheel 23 execute set next time revolving speed when, actual revolution with set
There are large errors for fixed revolving speed, so that expected training effect be not achieved.Therefore by designing service wheel speed control system
System realizes the revolving speed control of serving wheel 2.
Specifically, the bottom of infrared emission sensor 22 is equipped with a baltimore groove, and the top for counting tooth 21 stretches to spill
Inside slot.Serving wheel 2 rotates, and counts tooth 21 constantly by baltimore groove, the accurately statistical counting tooth of infrared emission sensor 22
21 pass through quantity.The counting tooth 21 of statistics is fed back to MCU by quantity by infrared emission sensor 22, under the processing of MCU,
Tooth 21 will be counted by quantity this information and is converted into the actual revolution of serving wheel 2, so by the actual revolution of serving wheel 2 be
Preset rotation speed in system is compared, if revolving speed is excessive or too small, realizes the control to 3 revolving speed of motor by MCU, in turn
Achieve the purpose that 2 speed considerations of serving wheel.Being precisely controlled for 2 revolving speed of serving wheel can be realized using the system, improve complete machine
Running precision, reached expected training effect.
Meanwhile the lower section for chain-drive section 1 of serving a ball is equipped with pedestal 7 and can rotate around pedestal 7, the rear end of pedestal 7, which is equipped with, receives net machine
Structure 6.Wherein, net collecting mechanism 6 includes being symmetrical set transversal stretching frame 61 in 7 rear end of pedestal, and the two of transversal stretching frame 61
End is equipped with movable part and fixed part, is equipped with the guide rod for being connected to 7 rear end of pedestal, guide rod between two transversal stretching framves 61
It is equipped with the adjusting block 63 vertically moved back and forth, the separate end of two transversal stretching framves 61 is respectively connected with vertical strut 64, is located at
The movable part of two transversal stretching framves, 61 phase proximal end is hinged with adjusting block 63, positioned at two movable parts of the transversal stretching frame 61 far from end
It is slidably connected with vertical strut 64, the fixed part of two transversal stretching framves 61 is hinged with guide rod and vertical strut 64 respectively；On
Lower mobile adjusting block 63, and then the movable part of transversal stretching frame 61 is driven to move up and down, realize that the transverse direction of transversal stretching frame 61 is stretched
Contracting.By moving up and down adjusting block 63, transversal stretching frame 61 can be driven and realize transversal stretching, reach storage and net machine is received in expansion
The purpose of structure 6, this is easy to operate；When transversal stretching frame 61 is in contraction state, vertical 64 high degree of strut to
Service robot rear end is drawn close, and realizes the diminution of overall dimensions, reaches storage effect well；Net collecting mechanism 6 and table tennis simultaneously
Service robot integrally designs, and is convenient for carrying.
Preferably, transversal stretching frame 61 includes the first axle and the second hinge being hingedly made of several hinge bar head and the tail
Chain, each hinge bar in first axle are hinged with hinge bar corresponding in second hinge at middle part.The transverse direction is stretched
Contracting frame 61, which can be realized, largely to be stretched, and reliable and stable, while also achieving the support to ball screen.It is adjusted mobile
During block 63, the angle between hinge bar changes, and changes the starting point of first axle and second hinge to link
The distance between end, and then realize that transversal stretching frame 61 in one plane does stretching motion.
Specifically, first axle and second hinge are hingedly formed by two hinge bar head and the tail in the present embodiment.And it leads
It is U-shaped bar 62 to bar, U-shaped bar 62 is fixed on the rear end of table tenning ball servicing machine in standing upside down, and the both ends of adjusting block 63 are equipped with for U
The slide opening of 62 open end of shape bar insertion, adjusting block 63 can be slided up and down along U-shaped bar 62.The both ends of first axle, which are respectively hinged at, leads
To the bottom of bar and vertical strut 64, one end of second hinge and adjusting block 63 are hinged, and the other end and the sliding of vertical strut 64 connect
It connects.Adjusting block 63 is pulled up, transversal stretching frame 61 is shunk, and realizes closing up for net collecting mechanism 6；Adjusting block 63 is pushed down on, it is horizontal
It is extended to expansion bracket 61, realizes the expansion of net collecting mechanism 6.
Meanwhile the top of vertical strut 64 is connected with a curved bar 65.Ball effect is more preferably received in order to have net collecting mechanism 6
Fruit, 65 lower end of curved bar are docked with vertical strut 64, and the upper end of curved bar 65 bends towards the middle part of ball table and extension.Curved bar 65 and perpendicular
It is connected between strut 64 by articulated structure, the lower end of curved bar 65 is equipped with upper rod set 651, and the upper end of vertical strut 64 is set
There is low stem casing 641, portion is hinged so that upper rod set 651 can be in vertical plane on the outside for upper rod set 651 and low stem casing 641
It is equipped with positioning column 642 on the front end face of overturning, upper rod set 651 and low stem casing 641, stretching bullet is connected between positioning column 642
Spring 66.When needing to store net collecting mechanism 6, external force is provided and overturns upper rod set 651 so that the outside portion of upper rod set 651 with
The outside portion of low stem casing 641 abuts, and effectively reduces the storage size of entire net collecting mechanism 6 in height, convenient for storage and fortune
It is defeated；And the hook at 66 both ends of extension spring is hung on positioning column 642, and the moment provides the pulling force acted on positioning column 642,
Guarantee that vertical strut 64 and curved bar 65 can keep stable state when end is docked and when outside portion abuts.Meanwhile it is perpendicular
It is set as L shape strut to strut 64, the lateral part of L shape strut includes first crossbar and second crossbar, first crossbar and second
It is connected between cross bar by articulated structure, second crossbar can be flipped up, and can further decrease the storage of entire net collecting mechanism
Size.
Preferably, limit switches are arranged in service chain-drive section 1, service chain-drive section 1 includes the first rotation section and second turn
Dynamic portion, the second rotation section are rotatably connected on the first rotation section, and the first rotation section can rotate respectively around Y-axis and Z axis, the second rotation
Portion can turn about the X axis, limit switch include the first limit switch 81, the second limit switch 82 and third limit switch 83, first
Limit switch 81 is for limiting the angle range that the second rotation section turns about the X axis, and the second limit switch 82 is for limiting first turn
The angle range that dynamic portion is rotated around Y-axis, third limit switch 83 is for limiting the angle range that the first rotation section turns about the Z axis.
When normal operation, the service chain-drive section 1 of table tenning ball servicing machine is rotated within the scope of its ultimate angle around X-axis, Y-axis and Z axis.Due to
There can be accumulation rotation error during rotation, service chain-drive section 1 is caused to be well over its ultimate angle range.Work as service robot
When head 1 is more than its ultimate angle range, the first limit switch 81 or the second limit switch 82 are triggered at once or third limit is opened
83 are closed, and then controls service chain-drive section 1 and stops operating, can effectively avoid and rotated because of service chain-drive section around X-axis or Y-axis or Z axis
Head and the situation for causing equipment impaired occurs.
T shape bracket is equipped in first rotation section, the first rotation section can be rotated around the transverse part of T shape bracket, the first rotation section
Bottom be equipped with pedestal 7, the vertical portion of T shape bracket and pedestal 7 are rotatablely connected.Pedestal 7 realizes the branch to entire service chain-drive section 1
Support, the transverse part of T shape bracket are a shaft in the middle part of the first rotation section, and the vertical portion of T shape bracket is that a rotation connects
Connect the hollow pipe on pedestal 7.
First limit switch 81 is fixed at the first rotation section, and the end face of the second rotation section is equipped with one section of arc around X-axis
Shape slot, the first limit switch 81 stretch in arc groove.In the present embodiment, the first limit switch 81 includes being located at the left and right sides
Two contact points, the second rotation section is identical around the ultimate angle of X-axis positive and negative rotation, and the first limit switch 81 stretches to arc groove
Middle position is located at the first limit switch 81 or so when the second rotation section is around the position of X-axis positive and negative rotation to its ultimate angle
Two contact points of two sides are abutted with the both ends of arc groove respectively, realize that the second rotation section is controlled around the turned position of X-axis.
Second limit switch 82 is fixed on the transverse part of T shape bracket, and the first rotation section is set there are two the first block, and first turn
Around Y-axis positive and negative rotation, the second limit switch 82 can be abutted with two the first blocks respectively in the portion of moving.First rotation section is positive and negative around Y-axis
The ultimate angle of rotation is identical, and the second limit switch 82 is located at the middle position of two the first blocks, when the first rotation section is around Y-axis
When positive and negative rotation to the position of its ultimate angle, two contact points positioned at the left and right sides of the second limit switch 82 are respectively with first
Block abuts, and realizes that the second rotation section is controlled around the turned position of Y-axis.
Preferably, third limit switch 83 is fixed on pedestal 7, the vertical portion of T shape bracket is set there are two the second block, the
Positive and negative rotation, third limit switch 83 can be abutted with two the second blocks respectively about the z axis for one rotation section.First rotation section is about the z axis
The ultimate angle of positive and negative rotation is identical, and third limit switch 83 is located at the middle position of two the second blocks, when the first rotation section
About the z axis when positive and negative rotation to the position of its ultimate angle, two contact points positioned at 83 left and right sides of third limit switch are distinguished
It is abutted with the second block, realizes the turned position control of the second rotation section about the z axis.
Wherein, central angle corresponding to arc groove is equal to the maximum allowable corner of the second rotation section, two the first blocks and Y
The angle that axis is formed is equal to the angle etc. that the first rotation section is formed around the maximum allowable angle that Y-axis rotates, two the second blocks and Z axis
In the maximum allowable angle that the first rotation section turns about the Z axis.
First limit switch 81, the second limit switch 82 and third limit switch 83 are electrically connected with MCU, and MCU electrically connects
It is connected to alarm device.Electric signal is transferred to MCU by the first limit switch 81, the second limit switch 82 and third limit switch 83, into
And MCU controls the motor stalls connecting with the first rotation section and the second rotation section, while MCU control alarm device is warned
Report.When service robot operation is abnormal, alarm device is triggered, to notify relevant staff to rush for handling.
Meanwhile as shown in Figure 10, the electric wire entirely in service chain-drive section 1 is hidden in the inside of shell 11, including motor
Power supply line and the connection of limit switch etc., electric wire is embedded in inside shell 11, the beauty of complete machine has been effectively ensured.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned embodiment party
Formula within the scope of knowledge possessed by those of ordinary skill in the art can also be before not departing from present inventive concept
Put that various changes can be made.
Claims (10)
1. a kind of smart table tennis service robot, including the service chain-drive section that can be rotated around Y-axis, the front end of the service chain-drive section is set
There is the motor of serving wheel and the driving serving wheel rotation, it is characterised in that: the rear end of the service chain-drive section is equipped with counterweight
Block, the center of gravity of the service chain-drive section and the rotation centerline of Y-axis are located in same vertical plane.
2. smart table tennis service robot according to claim 1, it is characterised in that: the lower section of the service chain-drive section is equipped with
The rear end of pedestal, the pedestal is equipped with net collecting mechanism.
3. smart table tennis service robot according to claim 2, it is characterised in that: the net collecting mechanism includes bilateral symmetry
The transversal stretching frame of base rear end is set, and the both ends of the transversal stretching frame are equipped with movable part and fixed part, two cross
To the guide rod for being connected to base rear end portion is equipped between expansion bracket, the guide rod is equipped with the adjusting vertically moved back and forth
The separate end of block, the two transversal stretching framves is respectively connected with vertical strut, the activity positioned at the two transversal stretching frame phase proximal ends
Portion is hinged with adjusting block, is slidably connected far from the movable part at end with vertical strut positioned at the two transversal stretching framves, described in two
The fixed part of transversal stretching frame is hinged with guide rod and vertical strut respectively；
The adjusting block is moved up and down, and then the movable part of the transversal stretching frame is driven to move up and down, realizes transversal stretching frame
Transversal stretching.
4. smart table tennis service robot according to claim 3, it is characterised in that: the transversal stretching frame includes by several
Hinge bar the head and the tail first axle and second hinge that hingedly form, each hinge bar and second hinge in the first axle
Upper corresponding hinge bar is hinged at middle part.
5. smart table tennis service robot according to claim 3, it is characterised in that: the guide rod is U-shaped bar, the U
Shape bar is fixed on the rear end of pedestal in standing upside down, and the both ends of the adjusting block are equipped with the slide opening being inserted into for U-shaped bar open end.
6. smart table tennis service robot according to claim 3, it is characterised in that: be connected at the top of the vertical strut
A piece curved bar.
7. smart table tennis service robot according to claim 6, it is characterised in that: lead between the curved bar and vertical strut
Articulated structure connection is crossed, the articulated structure includes upper rod set and lower loop bar, and the upper boom is set on the lower end of curved bar, institute
The upper end that vertical strut is arranged in lower loop bar is stated, portion is hinged so that upper rod set on the outside for the upper rod set and low stem casing
It can be overturn in vertical plane, positioning column is equipped on the front end face of the upper rod set and low stem casing, is connected between the positioning column
It is connected to extension spring.
8. smart table tennis service robot according to any one of claims 1 to 7, it is characterised in that: the service head
Portion includes shell, and the shell is equipped with the services aperture being located at right above at the top of serving wheel, and the aperture of the services aperture is greater than hair
The diameter of ball wheel, the services aperture are configured with the service wheel cap that serving wheel is isolated from the outside.
9. smart table tennis service robot according to any one of claims 1 to 7, it is characterised in that: the serving wheel side
Portion, interval, periphery is evenly distributed with a circle and counts tooth, and the top for counting tooth is equipped with infrared emission sensor, described infrared right
It penetrates sensor and the motor is connect with MCU.
10. smart table tennis service robot according to any one of claims 1 to 7, it is characterised in that: the service head
Limit switches are arranged in portion, and the service chain-drive section includes can be around the first rotation section that Y-axis and Z axis rotate, first rotation
Portion is connected with the second rotation section that can be turned about the X axis, and is equipped with T shape bracket, first rotation section and T in first rotation section
The transverse part of shape bracket is rotatablely connected, and the bottom of first rotation section is equipped with pedestal, the vertical portion and pedestal of the T shape bracket
Rotation connection, the limit switch include the first limit switch, the second limit switch and third limit switch, first limit
Bit switch is fixed at the first rotation section, and the end face of second rotation section is equipped with one section of arc groove around X-axis, and described first
Limit switch stretches in arc groove, and second limit switch is fixed on the transverse part of T shape bracket, and first rotation section is set
There are two the first block with the second limit switch configuration, the third limit switch is fixed on pedestal, and the T shape bracket erects
The second block there are two being set to portion with third limit switch configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910078640.7A CN109833617B (en) | 2019-01-25 | 2019-01-25 | Intelligent table tennis service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910078640.7A CN109833617B (en) | 2019-01-25 | 2019-01-25 | Intelligent table tennis service robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109833617A true CN109833617A (en) | 2019-06-04 |
| CN109833617B CN109833617B (en) | 2021-08-31 |
Family
ID=66884237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910078640.7A Active CN109833617B (en) | 2019-01-25 | 2019-01-25 | Intelligent table tennis service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109833617B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113797515A (en) * | 2021-08-31 | 2021-12-17 | 海南翔睿德科技有限公司 | Table tennis service robot capable of automatically counting |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203648014U (en) * | 2013-12-20 | 2014-06-18 | 黄澳祺 | Direction coding and positioning control device of pitching machine |
| US8758174B2 (en) * | 2009-10-28 | 2014-06-24 | Newgy Industries, Inc. | Table tennis robot and method of operation |
| CN106132491A (en) * | 2014-03-05 | 2016-11-16 | 纽吉工业公司 | There is the ping-pong robot that the service head of improvement moves |
| CN109248429A (en) * | 2018-11-23 | 2019-01-22 | 武汉理工大学 | Table tenning ball servicing machine |
| CN209885188U (en) * | 2019-01-25 | 2020-01-03 | 里德股份有限公司 | Intelligent table tennis service robot |
-
2019
- 2019-01-25 CN CN201910078640.7A patent/CN109833617B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8758174B2 (en) * | 2009-10-28 | 2014-06-24 | Newgy Industries, Inc. | Table tennis robot and method of operation |
| CN203648014U (en) * | 2013-12-20 | 2014-06-18 | 黄澳祺 | Direction coding and positioning control device of pitching machine |
| CN106132491A (en) * | 2014-03-05 | 2016-11-16 | 纽吉工业公司 | There is the ping-pong robot that the service head of improvement moves |
| CN109248429A (en) * | 2018-11-23 | 2019-01-22 | 武汉理工大学 | Table tenning ball servicing machine |
| CN209885188U (en) * | 2019-01-25 | 2020-01-03 | 里德股份有限公司 | Intelligent table tennis service robot |
Non-Patent Citations (1)
| Title |
|---|
| 陈位宫: "《工程力学》", 30 April 2008 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113797515A (en) * | 2021-08-31 | 2021-12-17 | 海南翔睿德科技有限公司 | Table tennis service robot capable of automatically counting |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109833617B (en) | 2021-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209696244U (en) | A kind of table tennis training teaching ball serving device convenient for adjusting service direction | |
| CN111993407A (en) | Mechanical arm of educational robot | |
| CN107969840A (en) | A kind of multifunction seat | |
| CN207155426U (en) | Corner sanding apparatus is used in a kind of air-conditioning guard production and processing | |
| CN109833617A (en) | A kind of smart table tennis service robot | |
| CN109229761A (en) | A kind of lighting apparatus storing apparatus | |
| CN108339266A (en) | A kind of novel article gripper | |
| CN209885188U (en) | Intelligent table tennis service robot | |
| CN208424027U (en) | A kind of electromechanical equipment failure alarm protection device | |
| CN215581539U (en) | Switch with locking moving | |
| CN214686792U (en) | A high-efficient cutting machine for paper tube production | |
| CN112414938A (en) | Quality detection device of medical protective clothing | |
| CN209183167U (en) | A kind of mobile LED display of portable intelligent | |
| CN207641909U (en) | A kind of register face dust-extraction unit | |
| CN109380928A (en) | A kind of adjustable mirror | |
| CN208138783U (en) | Height-adjustable textile machine support device | |
| CN112323358A (en) | Washing machine supporting device capable of avoiding impact and intelligently adjusting balance | |
| CN212593839U (en) | Basketball shaping machine | |
| CN215932411U (en) | Electric automatization control cabinet | |
| CN110924092B (en) | Clothes hanger | |
| CN220736125U (en) | Football service robot | |
| CN218327180U (en) | Rotatable lift's support of making a video recording | |
| CN216050637U (en) | Nozzle water distribution testing device | |
| CN209256243U (en) | A kind of Christmas ball automatic assembling apparatus | |
| CN212880914U (en) | Liftable cantilever basketball stands |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |