CN109847302A - A kind of table tennis training mate robot - Google Patents
A kind of table tennis training mate robot Download PDFInfo
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- CN109847302A CN109847302A CN201910029728.XA CN201910029728A CN109847302A CN 109847302 A CN109847302 A CN 109847302A CN 201910029728 A CN201910029728 A CN 201910029728A CN 109847302 A CN109847302 A CN 109847302A
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- accommodating chamber
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Abstract
The present invention provides a kind of table tennis training mate robot, including fuselage, collection device, ball serving device and driving means, McCrum wheel is equipped on the downside of fuselage, fuselage is equipped with fuselage driving device, to drive McCrum wheel to rotate, the fuselage is formed with accommodating chamber, the accommodating chamber is for storing table tennis, the collection device is set to the front fuselage, for will be in the pingpong collection on ground to the accommodating chamber, the ball serving device is set to the back body, including pipeline, the pipeline has the arrival end for being connected to the accommodating chamber, and the outlet end equipped with service mouth, the driving means is set in the accommodating chamber, for arrival end of the table tennis in the accommodating chamber from the pipeline to be pushed in the pipeline, so that the ball serving device projects the table tennis in the pipeline from the service mouth.Table tennis training mate provided by the invention robot had not only had the function of collecting function but also had had service training mate, intelligence more convenient to use.
Description
Technical field
The present invention relates to Sports training apparatus fields, in particular to a kind of table tennis training mate robot.
Background technique
Paddler's training, which will face, picks up the miscellaneous works such as ball, while the case where be likely encountered unmanned training mate.At present
Domestic and international market ping-pong robot only has the function of collecting table tennis or only has the function of service training mate, function list
One, the efficiency for being collected simultaneously ball is lower, and structure is complicated and at high cost.
Summary of the invention
The main object of the present invention is to propose a kind of table tennis training mate robot, to solve ping-pong ball in the prior art
The technical issues of device people has a single function, and cannot not only collect table tennis but also service training mate.
In order to achieve the above technical purposes, the present invention proposes a kind of table tennis training mate robot, comprising:
Fuselage, the fuselage downside are equipped with McCrum wheel, and the fuselage is equipped with fuselage driving device, to drive
The rotation of McCrum wheel is stated, accommodating chamber is formed on the fuselage, the accommodating chamber is for storing table tennis；
Collection device is set to the front fuselage, for will be in the pingpong collection on ground to the accommodating chamber；
Ball serving device, is set to the back body, including pipeline, and the pipeline has the entrance for being connected to the accommodating chamber
End, and the outlet end equipped with service mouth；And
Driving means is set in the accommodating chamber, for the entrance by the table tennis in the accommodating chamber from the pipeline
End is pushed in the pipeline, so that the ball serving device projects the table tennis in the pipeline from the service mouth.
Selectively, the collection device includes:
Blade mechanism, blade rotor and blade driving apparatus including being installed on the fuselage, the blade rotor is along horizontal
To being set in front of the fuselage, and there is radially outwardly extending blade, the blade driving apparatus drives the blade
Shaft circumferentially rotates, so that the outer end of the blade can rotate backward from up to down；And
Shovel is dug, is installed on the fuselage lower front, the digging shovel is set to the blade rear, and shovels mouth and set towards front
It sets, the rear end for digging shovel is connected to the accommodating chamber setting；
Wherein, the blade is matched with digging shovel, so that when the outer end of the blade rotates down, it can be by ground
The table tennis in face is swept into the digging shovel, and shovels along the digging and enter the accommodating chamber.
Selectively, the blade mechanism further includes support frame, and support frame as described above can be installed on the machine with swinging up and down
Body front end, to have the free end towards front and the turning end towards rear, the free end of support frame as described above is equipped with the leaf
Piece shaft；It is equipped on rear side of the digging shovel and digs shovel shaft, and shovel shaft by the digging to be installed on the fuselage with rotating upwardly and downwardly；
The collection device further includes collecting motor, and the driving end for collecting motor is equipped with differential mechanism, and passes through the differential mechanism point
Not Qu Donglianjie support frame as described above turning end and the digging shovel shaft, with differential driving support frame as described above swing up and down and
The digging shovel is driven to rotate upwardly and downwardly, so that the digging shovel is rotated up after the free end of support frame as described above is swung up rise；
And/or
The digging shovel rear side is equipped with collecting tank, and the collecting tank has the inclined surface extended downwardly backward, the collecting tank
Transmission mechanism is equipped between the accommodating chamber, the transmission mechanism includes feeder and the transmission in the feeder
Band, the conveyer belt both ends extend respectively to the collecting tank and the accommodating chamber, and the middle section of the transmission is to the oblique of rear side
Top be extended, being set in distance on the conveyer belt has multiple Transmission Parts, the multiple Transmission Part to carry table tennis,
The table tennis in the collecting tank to be transported in the accommodating chamber；And/or
The material of the blade is flexible material.
Selectively, the inner bottom wall of the accommodating chamber is connected to the pipeline in setting, the accommodating chamber is tilted down backward
One end exported equipped with accommodating chamber, accommodating chamber outlet is set to the rear end of the accommodating chamber.
Selectively, the driving means includes the reciprocating mechanism set on the accommodating chamber exit, described reciprocal
Movement mechanism includes driving gear, the first driven gear, the second driven gear, the first imperfect gear, the second imperfect gear
And rack gear, wherein the two sides of the driving gear are engaged in first driven gear and second driven gear respectively,
The coaxially connected first imperfect gear of first driven gear, second driven gear coaxially connected described second is not
Complete gear wheel, the first imperfect gear and the second imperfect gear are engaged in the rack gear two sides respectively, so that
The rack gear is moved back and forth by driving, and the rack gear has the pushing part that the arrival end towards the pipeline is arranged, the rack gear
On be additionally provided with guide part, limited with the movement to the rack gear.
Selectively, it is additionally provided with Anti-blocking device close to the accommodating chamber exit in the accommodating chamber, it is described anti-jamming
Device includes sun gear, ring gear and multiple planetary gears, wherein and the sun gear is connect with pto shaft drive,
The ring gear is installed on the inner sidewall of the accommodating chamber, and is surrounded on the periphery of the sun gear, each planetary gear
Between the ring gear and the sun gear and it is engaged in the ring gear and the sun gear, the multiple planet
Gear is in be intervally arranged along the circumferential direction of the sun gear, and each planetary gear is equipped in from wheel facing towards the accommodating chamber
The agitating plate of side setting.
Selectively, the ball serving device includes the trigger mechanism set on the pipe outlet, the trigger mechanism packet
The hollow out pipe with the setting of the outlet of the pipeline is included, and is rubbed set on the first friction pulley of hollow out pipe two sides and second
Wheel is wiped, first friction pulley and the second friction pulley are rotated by driving respectively, the wheel of first friction pulley and the second friction pulley
Face is parallel to the extending direction setting of the hollow out pipe, and is at least partially inserted into the hollow out pipe, for engraving with described
Table tennis CONTACT WITH FRICTION in blank pipe, so that the table tennis launches outward under the action of frictional force.
Selectively, first friction pulley and second friction pulley are adjustable by the revolving speed of driving rotation；And/or
The trigger mechanism further includes rotation direction adjustment structure, and the rotation direction adjustment structure includes being set around outside the hollow out pipe
The worm gear in week and with pto shaft drive connecting worm, the hollow out pipe is rotatably installed on the outlet of the pipeline
End, first friction pulley and second friction pulley are fixed on the hollow out pipe, and the worm screw and the worm gear drive
The hollow out pipe rotation, to adjust the turned position of first friction pulley and second friction pulley.
Selectively, the trigger mechanism further includes angle adjusting mechanism, and the angle adjusting mechanism includes for supporting
The steering platform of the hollow out pipe, the steering platform can be installed on the pipeline with rotating upwardly and downwardly, the hollow out pipe with managed
It is connected between road by flexible material, the steering platform underside is equipped with two struts, two strut upper ends rotation connection
The supporting platform, two strut lower ends are bolted in two-way lead screw respectively, and the two-way lead screw is driven, so that described
Two struts are relatively rotated close to or far to drive the steering platform to rotate upwardly and downwardly.
Selectively, the pipeline has telescopic structure, is equipped with lifting device on the downside of the outlet end of the pipeline, with
It is adjustably installed on the fuselage up and down by the lifting device.
In technical solution of the present invention, table tennis training mate robot includes fuselage, collection device, ball serving device and pushes away
Device is sent, McCrum wheel is equipped on the downside of the fuselage, the fuselage is equipped with fuselage driving device, to drive the Mike
La Mu wheel rotates, and accommodating chamber is formed on the fuselage, and the accommodating chamber is set to institute for storing table tennis, the collection device
Front fuselage is stated, for by the pingpong collection on ground to the accommodating chamber, the ball serving device to be set to the back body,
Including pipeline, the pipeline has the arrival end for being connected to the accommodating chamber, and the outlet end equipped with service mouth, the push dress
It is arranged in the accommodating chamber, is pushed to the pipeline for the arrival end by the table tennis in the accommodating chamber from the pipeline
It is interior, so that the ball serving device projects the table tennis in the pipeline from the service mouth.Table tennis provided by the invention
Ball training mate robot can by the collection device by pingpong collection into accommodating chamber, by driving means by the receipts
Table tennis ball pushing in cavity is sent in the pipeline, and the ball serving device is by the table tennis in the pipeline from the service mouth
It projects, not only had the function of collecting function but also there is service training mate, intelligence more convenient to use.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is a kind of entirety perspective view of one embodiment of table tennis training mate robot provided in this embodiment；
Fig. 2 is the inside schematic perspective view of one embodiment of table tennis training mate robot in Fig. 1；
Fig. 3 is the sectional perspective structural schematic diagram of the collection device of one embodiment of table tennis training mate robot in Fig. 1；
Fig. 4 is the sectional perspective structural schematic diagram of the driving mechanism of collection device in Fig. 3；
Fig. 5 is the sectional perspective structural schematic diagram of the transmission mechanism of one embodiment of table tennis training mate robot in Fig. 1；
Fig. 6 is the inside sectional perspective structural schematic diagram of the accommodating chamber of one embodiment of table tennis training mate robot in Fig. 1；
Fig. 7 is the sectional perspective structural schematic diagram of the driving means of one embodiment of table tennis training mate robot in Fig. 1；
Fig. 8 is the sectional perspective structural schematic diagram of the Anti-blocking device of one embodiment of table tennis training mate robot in Fig. 1；
Fig. 9 is the internal structure front view of Anti-blocking device in Fig. 8；
Figure 10 is the lifting device of one embodiment of table tennis training mate robot and the front view of ball serving device in Fig. 1；
Figure 11 is the sectional perspective structural schematic diagram of ball serving device in Figure 10.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 1 | Fuselage | 71 | First driven gear |
| 2 | McCrum wheel | 72 | Second driven gear |
| 3 | Accommodating chamber | 73 | First imperfect gear |
| 31 | Accommodating chamber outlet | 74 | Second imperfect gear |
| 4 | Pipeline | 75 | Rack gear |
| 41 | Arrival end | 76 | Pushing part |
| 42 | Outlet end | 77 | Guide part |
| 43 | Flexible structure | 80 | Sun gear |
| 5 | Blade rotor | 81 | Ring gear |
| 51 | Blade | 82 | Planetary gear |
| 52 | Dig shovel | 83 | Agitating plate |
| 53 | Dig shovel shaft | 90 | Hollow out pipe |
| 54 | Support frame | 91 | First friction pulley |
| 55 | Differential mechanism | 92 | Second friction pulley |
| 56 | Collecting tank | 93 | Worm gear |
| 6 | Lifting device | 94 | Worm screw |
| 60 | Feeder | 95 | Turn to platform |
| 61 | Conveyer belt | 96 | Strut |
| 62 | Transmission Part | 97 | Two-way lead screw |
| 70 | Drive gear |
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that if relating to directionality instruction (such as up, down, left, right, before and after ...) in the embodiment of the present invention,
Then directionality instruction be only used for explain under a certain particular pose (as shown in the picture) between each component relative positional relationship,
Motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
In addition, being somebody's turn to do " first ", " second " etc. if relating to the description of " first ", " second " etc. in the embodiment of the present invention
Description be used for description purposes only, be not understood to indicate or imply its relative importance or implicitly indicate indicated skill
The quantity of art feature." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one spy
Sign.In addition, the meaning of the "and/or" occurred in full text, including three schemes arranged side by side, by taking " A and/or B " as an example, including the side A
The scheme that case or B scheme or A and B meet simultaneously.In addition, the technical solution between each embodiment can be combined with each other, but
To be based on can be realized by those of ordinary skill in the art, when the combination of technical solution occur it is conflicting or can not
Will be understood that the combination of this technical solution is not present when realization, also not the present invention claims protection scope within.
Fig. 1 to Figure 11 is the schematic diagram of one embodiment of table tennis training mate provided by the invention robot.
Fig. 1 and Fig. 2 are please referred to, table tennis training mate robot includes fuselage 1, collection device, ball serving device and pushes away
Send device.It is equipped with McCrum on the downside of the fuselage 1 and draws wheel 2, the fuselage 1 is equipped with fuselage driving device, to drive
It states McCrum and draws 2 rotation of wheel, be formed with accommodating chamber 3 on the fuselage 1, the accommodating chamber 3 is for storing table tennis.The receipts
Acquisition means are set to 1 front end of fuselage, for by the pingpong collection on ground to the accommodating chamber 3, the ball serving device to be set
In 1 rear end of fuselage, including pipeline 4, the pipeline 4 has the arrival end 41 for being connected to the accommodating chamber 3, and is equipped with service
The outlet end 42 of mouth.The driving means be set to the accommodating chamber 3 in, for by the table tennis in the accommodating chamber 3 from described in
The arrival end 41 of pipeline 4 is pushed in the pipeline 4 so that the ball serving device by the table tennis in the pipeline 4 from
The service mouth projects.
In this embodiment, the fuselage 1 is also capable of forming while playing beauty function using semi-enclosed design
The accommodating chamber 2 is additionally provided with multiple support devices on the fuselage 1, by each parts carry in the fuselage.The fuselage 1
Overall dimensions are preferably l*w*h=745*270*231, in this way, can freely move without being collided in table tennis field.
Driving method of the fuselage 1 using McCrum wheel 2 as a whole, by controlling 2 omnidirectional rotary of McCrum wheel,
So that the traveling process of robot can be any direction at any angle, this not only contributes to robot and is scattered to all directions
The collection of table tennis, and during service, by driving McCrum wheel 2, fuselage can be made integrally to turn in the lateral direction
It is dynamic, achieve the purpose that the service mouth left-right rotation, realizes the service of left and right directions.
Table tennis training mate provided in this embodiment robot can by the collection device by pingpong collection to receiving
In chamber 3, the table tennis ball pushing in the accommodating chamber 3 is being sent in the pipeline 4 by driving means, the ball serving device is by institute
The table tennis stated in pipeline 4 is projected from the service mouth, had not only had the function of collecting function but also had had service training mate, using more
Add and facilitates intelligence.
Further, in order to collect table tennis, in the present embodiment, referring to Fig. 3, the collection device includes vane machine
Structure and digging shovel 52, the blade mechanism includes the blade rotor 5 and blade driving apparatus for being installed on the fuselage 1, the blade
Shaft 5 is transversely set to 1 front of fuselage, and has radially outwardly extending blade 51, the blade driving apparatus
The blade rotor 5 is driven circumferentially to rotate, so that the outer end of the blade 51 can rotate backward from up to down.The digging
Shovel 52 is installed on 1 lower front of fuselage, and the digging shovel 52 is set to the blade rear, and shovels mouth and be arranged towards front, institute
State the rear end connection setting of accommodating chamber 3 for digging shovel 52.Wherein, the blade 51 is matched with digging shovel 52, so that institute
When stating the outer end of blade 51 and rotating down, the table tennis on ground can be swept into the digging shovel 52, and along 52 entrance of diggings shovel
The accommodating chamber 3.
In technical solution provided by the embodiment, the blade driving apparatus is by driving the shaft 5 to rotate, with driving
The blade 51 rotates, so that the blade 51 and the table tennis dug between shovel 52, which are swept into diggings, shovels 52, goes forward side by side one
Step pushes the table tennis to enter the digging along digging shovel 52 and shovels rear.It is preferred that the blade mechanism is flexible three impeller, institute
The blade 51 for stating flexible three impeller is made of flexible material, hits winged table tennis in this way, being avoided that when collecting table tennis.
In some cases, such as table tennis is when corner, table tennis is collected according to the blade 51, due to wall
Body hinder, in fact it could happen that collect less than the case where.For this purpose, the blade mechanism further includes support frame 54, support frame as described above 54 can
It is installed on 1 front end of fuselage with swinging up and down, to have the free end towards front and the turning end towards rear, the branch
The free end of support 54 is equipped with the blade rotor 5；52 rear side of digging shovel, which is equipped with, digs shovel shaft 53, and is turned by digging shovel
Axis 53 can be installed on the fuselage 1 with rotating upwardly and downwardly；The collection device further includes collecting motor, the driving for collecting motor
End is equipped with differential mechanism 55, and the turning end and digging shovel turn of connection support frame as described above 54 are respectively driven by the differential mechanism 55
Axis 53 swings up and down and drives the digging shovel 52 to rotate upwardly and downwardly, so that support frame as described above with differential driving support frame as described above 54
After 54 free end is swung up rise, the digging shovel 52 is rotated up.In the present embodiment, the differential mechanism 55 and the branch
Support uses Bevel Gear Transmission between the digging shovel shaft 53 and the differential mechanism by chain drive.
In general collection status, the differential mechanism 55 does not work, and the blade mechanism normal rotation is to collect table tennis.
And in special collection status such as corners, the differential mechanism 55 drives chain rotation so that three impeller, 13 support shaft rotates to first
Top suitable position, subsequent stop motion form speed difference, so that Bevel Gear Transmission part setting in motion, drives the digging shovel
52 rotations, thus by the collecting tank of pingpong collection to 52 rears of digging shovel.
Since the blade mechanism rear may need to arrange the components such as driving device, table tennis is hindered to enter the receipts of rear side
Cavity.For this purpose, 52 rear side of digging shovel is equipped with collecting tank 56, the collecting tank 56 has the inclined surface extended downwardly backward, institute
State between collecting tank 56 and the accommodating chamber 3 be equipped with transmission mechanism, the transmission mechanism include feeder 60 and be set to the biography
The conveyer belt 61 in box 60 is sent, 61 both ends of conveyer belt extend respectively to the collecting tank 56 and the accommodating chamber 3, the biography
The middle section of band 61 is sent to be extended to the oblique upper of rear side, being set in distance on the conveyer belt 61 has multiple Transmission Parts 62, institute
Multiple Transmission Parts 62 are stated to carry table tennis, the table tennis in the collecting tank 56 to be transported in the accommodating chamber 3.
In this way, having barrier digging between shovel 52 and the accommodating chamber 3 due to the needs of arrangement in table tennis training mate robot
In the case of, table tennis successfully can be transported to the accommodating chamber.
Further, the inner bottom wall of the accommodating chamber 3 is connected to the pipeline in setting, the accommodating chamber is tilted down backward
One end be equipped with accommodating chamber outlet 31, accommodating chamber outlet 31 is set to the rear ends of the accommodating chamber 3.In this way, being collected into
The table tennis of the accommodating chamber 2 can focus on automatically under gravity at the accommodating chamber outlet 31, so as to quilt
Smoothly push to the pipeline 4.
Further, in order to enable the table tennis out of described accommodating chamber 2 enter the pipeline, the driving means
Including the reciprocating mechanism being set at accommodating chamber outlet 31, the reciprocating mechanism includes driving gear 70, first
Driven gear 71, the second driven gear 72, the first imperfect gear 73, the second imperfect gear 74 and rack gear 75, wherein institute
The two sides for stating driving gear 70 are engaged in first driven gear 71 and second driven gear 72 respectively, described first from
The coaxially connected first imperfect gear 73 of moving gear 71, second driven gear 72 coaxially connected described second are imperfect
Gear 74, the first imperfect gear 73 and the second imperfect gear 74 are engaged in 75 two sides of rack gear respectively, with
So that the rack gear 75 is moved back and forth by driving, the rack gear 75 has the promotion that the arrival end 41 towards the pipeline 4 is arranged
Portion 76 is additionally provided with guide part 77 on the rack gear 75, is limited with the movement to the rack gear 75.
By above structure, when the driving gear 70 rotation, the described first imperfect gear 73 and described can be made
Second imperfect gear, 74 interval and it is oppositely engaged in the rack gear 75, to drive 76 court of pushing part on the rack gear 75
It is moved back and forth to the arrival end 41 of the pipeline 4, secondary the is sent to the table tennis ball pushing in the accommodating chamber in the pipeline.
Since table tennis is all got lodged at the accommodating chamber outlet 31, in fact it could happen that block stuck situation, lead to table tennis
It can not be successfully and enter pipeline 4.For this purpose, being additionally provided with Anti-blocking device close to 3 exit of accommodating chamber in the accommodating chamber 3.Institute
Stating Anti-blocking device includes sun gear 80, ring gear 81 and multiple planetary gears 82, wherein the sun gear 80 and power
Output shaft transmission connection, the ring gear 81 is installed on the inner sidewall of the accommodating chamber 3, and is surrounded on the sun gear 80
Periphery, each planetary gear 82 are set between the ring gear 81 and the sun gear 80 and are engaged in the ring gear 81
With the sun gear 80, the multiple planetary gear 82 is in be intervally arranged along the circumferential direction of the sun gear 80, each row
Star gear 82 is equipped with the agitating plate 83 being arranged on the inside of from wheel facing towards the accommodating chamber 3.In this way, by driving the sun tooth
80 rotation of wheel is to drive each 83 pitch of the laps of agitating plate rotation and rotation, so that the table tennis at the accommodating chamber outlet 31 be sufficiently stirred
Pang ball prevents stuck situation.
Further, the ball serving device includes the trigger mechanism set on 4 outlet end 42 of pipeline, the trigger mechanism
Including the hollow out pipe 90 with the setting of the outlet of the pipeline 4, and the first friction pulley set on 90 two sides of hollow out pipe
91 and second friction pulley 92, first friction pulley 91 and the second friction pulley 92 rotated respectively by driving, first friction pulley
91 and second the wheel face of friction pulley 92 be parallel to the extending direction setting of the hollow out pipe 90, and be at least partially inserted into described engrave
In blank pipe 90, with for the table tennis CONTACT WITH FRICTION in the hollow out pipe 90 so that effect of the table tennis in frictional force
Under launch outward.Preferably, first friction pulley 91 and second friction pulley 92 are adjustable by the revolving speed of driving rotation, in this way,
The speed that first friction pulley 91 and second friction pulley 92 can be adjusted as needed, forms it into speed difference, thus
Hook, Slice etc. can be issued.
Preferably, the trigger mechanism further includes rotation direction adjustment structure, to adjust the rotation launch angle of the table tennis.
Specifically, the rotation direction adjustment structure includes being set around the worm gear 93 of 90 periphery of hollow out pipe and passing with power output shaft
The worm screw 94 of dynamic connection, the hollow out pipe 90 are rotatably installed on the outlet end 42 of the pipeline 4, first friction pulley 91
It is fixed on the hollow out pipe 90 with second friction pulley 92, the worm screw 94 drives the hollow out pipe with the worm gear 93 cooperation
90 rotations, to adjust the turned position of first friction pulley 91 and second friction pulley 92.It so, it is possible to drive as needed
It moves the worm screw 94 to rotate, so that the electronic hollow out pipe 90 rotates, drives described first on the hollow out pipe 90
Friction pulley 91 and second friction pulley 92 rotate with it, so as to emit the screw of any rotation direction.
Preferably, the trigger mechanism further includes angle adjusting mechanism, to adjust upper inferior horn when table tennis transmitting
Degree.The angle adjusting mechanism includes the steering platform 95 for supporting the hollow out pipe 90, and the steering platform 95 can be upper and lower
It is rotatably mounted to the pipeline 4, is connected between the hollow out pipe 90 and institute's pipeline 4 by flexible structure 43, described turn to is put down
Two struts 96 are equipped on the downside of platform 95, two struts, 96 upper end is rotatablely connected the supporting platform, two struts 96
Lower end is bolted in two-way lead screw 97 respectively, and the two-way lead screw 97 is driven, so that two struts 96 relative rotation is leaned on
Close or remote to drive the steering platform 95 to rotate upwardly and downwardly.In the present embodiment, described to drive the two-way lead screw 97
Rotation so, it is possible to adjust the table tennis transmitting as needed so that one end of the rotatable platform 95 be driven to rotate upwardly and downwardly
When x-ray angle in above-below direction.
If the whole height of the robot is excessively high, will be unable to enter ping-pong table bottom collection table tennis.The pipeline 4 has
There is telescopic structure, 42 lower part of outlet end of the pipeline 4 is equipped with lifting device 6, can to pass through about 6 lifting device
It is installed on the fuselage 1 with adjusting.The lifting device is specially scissors mechanism, and the scissors mechanism includes flexible scissor, can
Stretching motion is done along the vertical direction by driving, so that the emission port above the flexible scissor be driven to go up and down therewith.Pass through
Above structure can adjust service height as needed, and adjust the whole height of the fuselage 1, avoid cannot be introduced into table tennis
The case where pang ball table bottom.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all in the present invention
Inventive concept under, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/be used in it indirectly
He is included in scope of patent protection of the invention relevant technical field.
Claims (10)
1. a kind of table tennis training mate robot characterized by comprising
Fuselage, the fuselage downside are equipped with McCrum wheel, and the fuselage is equipped with fuselage driving device, to drive the wheat
Carat nurse wheel rotates, and accommodating chamber is formed on the fuselage, the accommodating chamber is for storing table tennis；
Collection device is set to the front fuselage, for will be in the pingpong collection on ground to the accommodating chamber；
Ball serving device is set to the back body, including pipeline, and the pipeline has the arrival end for being connected to the accommodating chamber, with
And the outlet end equipped with service mouth；And
Driving means is set in the accommodating chamber, pushes away for the arrival end by the table tennis in the accommodating chamber from the pipeline
It is sent in the pipeline, so that the ball serving device projects the table tennis in the pipeline from the service mouth.
2. table tennis training mate as described in claim 1 robot, which is characterized in that the collection device includes:
Blade mechanism, blade rotor and blade driving apparatus including being installed on the fuselage, the blade rotor are transversely set
In front of the fuselage, and there is radially outwardly extending blade, the blade driving apparatus drives the blade rotor
It circumferentially rotates, so that the outer end of the blade can rotate backward from up to down；And
Shovel is dug, the fuselage lower front is installed on, the digging shovel is set to the blade rear, and shovels mouth and be arranged towards front,
The rear end for digging shovel is connected to the accommodating chamber setting；
Wherein, the blade is matched with digging shovel, so that when the outer end of the blade rotates down, it can be by ground
Table tennis is swept into the digging shovel, and shovels along the digging and enter the accommodating chamber.
3. table tennis training mate as claimed in claim 2 robot, which is characterized in that the blade mechanism further includes support frame,
Support frame as described above can be installed on the front fuselage with swinging up and down, to have towards the free end in front and turning towards rear
The free end of moved end, support frame as described above is equipped with the blade rotor；The digging shovel rear side, which is equipped with, digs shovel shaft, and passes through the digging
Shovel shaft can be installed on the fuselage with rotating upwardly and downwardly；The collection device further includes collecting motor, the drive for collecting motor
Moved end is equipped with differential mechanism, and the turning end and digging shovel shaft of connection support frame as described above are respectively driven by the differential mechanism,
Swing up and down and drive the digging shovel to rotate upwardly and downwardly with differential driving support frame as described above, so that the free end of support frame as described above
After being swung up rise, the digging shovel is rotated up；And/or
The digging shovel rear side is equipped with collecting tank, and the collecting tank has the inclined surface extended downwardly backward, the collecting tank and institute
It states and is equipped with transmission mechanism between accommodating chamber, the transmission mechanism includes feeder and the conveyer belt in the feeder, institute
It states conveyer belt both ends and extends respectively to the collecting tank and the accommodating chamber, the middle section of the transmission is prolonged to the oblique upper of rear side
Setting is stretched, being set in distance on the conveyer belt there are multiple Transmission Parts, and the multiple Transmission Part is to carry table tennis, to incite somebody to action
Table tennis in the collecting tank is transported in the accommodating chamber；And/or
The material of the blade is flexible material.
4. table tennis training mate as described in claim 1 robot, which is characterized in that the inner bottom wall of the accommodating chamber is in Xiang Houxiang
Under be obliquely installed, the accommodating chamber is connected to one end of the pipeline and exports equipped with accommodating chamber, and the accommodating chamber outlet is set to described
The rear end of accommodating chamber.
5. table tennis training mate as claimed in claim 4 robot, which is characterized in that the driving means includes being set to the receipts
Reciprocating mechanism at chamber outlet, the reciprocating mechanism include driving gear, the first driven gear, the second driven tooth
Wheel, the first imperfect gear, the second imperfect gear and rack gear, wherein the two sides of the driving gear are engaged in institute respectively
State the first driven gear and second driven gear, the coaxially connected first imperfect gear of the first driven gear,
The coaxially connected second imperfect gear of second driven gear, the first imperfect gear and described second imperfect
Gear is engaged in the rack gear two sides respectively, so that the rack gear is moved back and forth by driving, the rack gear has described in
The pushing part of the arrival end setting of pipeline, is additionally provided with guide part on the rack gear, is limited with the movement to the rack gear.
6. table tennis training mate as claimed in claim 4 robot, which is characterized in that close to the accommodating chamber in the accommodating chamber
Exit is additionally provided with Anti-blocking device, and the Anti-blocking device includes sun gear, ring gear and multiple planetary gears, wherein
The sun gear is connect with pto shaft drive, and the ring gear is installed on the inner sidewall of the accommodating chamber, and is surrounded on
The periphery of the sun gear, each planetary gear are set between the ring gear and the sun gear and are engaged in described
Ring gear and the sun gear, the multiple planetary gear are in be intervally arranged along the circumferential direction of the sun gear, each row
Star gear is equipped with the agitating plate being arranged on the inside of from wheel facing towards the accommodating chamber.
7. table tennis training mate as described in claim 1 robot, which is characterized in that the ball serving device includes being set to the pipe
The trigger mechanism of road outlet end, the trigger mechanism includes the hollow out pipe with the setting of the outlet of the pipeline, and is set to
The first friction pulley and the second friction pulley of hollow out pipe two sides, first friction pulley and the second friction pulley are turned by driving respectively
Dynamic, the wheel face of first friction pulley and the second friction pulley is parallel to the extending direction setting of the hollow out pipe, and at least partly
Ground is inserted into the hollow out pipe, with for the table tennis CONTACT WITH FRICTION in the hollow out pipe so that the table tennis is rubbing
It is launched outward under the action of power.
8. table tennis training mate as claimed in claim 7 robot, which is characterized in that first friction pulley and described second rubs
It is adjustable by the revolving speed of driving rotation to wipe wheel；And/or
The trigger mechanism further includes rotation direction adjustment structure, and the rotation direction adjustment structure includes being set around hollow out pipe periphery
Worm gear and with pto shaft drive connecting worm, the hollow out pipe is rotatably installed on the outlet end of the pipeline, institute
It states the first friction pulley and second friction pulley is fixed on the hollow out pipe, the worm screw is engraved with described in worm gear driving
Blank pipe rotation, to adjust the turned position of first friction pulley and second friction pulley.
9. table tennis training mate as claimed in claim 7 robot, which is characterized in that the trigger mechanism further includes angular adjustment
Mechanism, the angle adjusting mechanism include the steering platform for supporting the hollow out pipe, and the steering platform can rotate upwardly and downwardly
Ground is installed on the pipeline, is connected between the hollow out pipe and institute's pipeline by flexible material, and the steering platform underside is equipped with
Two struts, two strut upper ends are rotatablely connected the supporting platform, and two strut lower ends are bolted in two-way respectively
Lead screw, the two-way lead screw are driven, so that two struts are relatively rotated close to or far to drive described turn to put down
Platform rotates upwardly and downwardly.
10. table tennis training mate as described in claim 1 robot, which is characterized in that the pipeline has telescopic structure,
Lifting device is equipped on the downside of the outlet end of the pipeline, to be adjustably installed on the fuselage up and down by the lifting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910029728.XA CN109847302B (en) | 2019-01-11 | 2019-01-11 | Table tennis training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910029728.XA CN109847302B (en) | 2019-01-11 | 2019-01-11 | Table tennis training robot |
Publications (2)
| Publication Number | Publication Date |
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| CN109847302A true CN109847302A (en) | 2019-06-07 |
| CN109847302B CN109847302B (en) | 2020-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910029728.XA Expired - Fee Related CN109847302B (en) | 2019-01-11 | 2019-01-11 | Table tennis training robot |
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| Country | Link |
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| CN (1) | CN109847302B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110354466A (en) * | 2019-08-23 | 2019-10-22 | 湖南丹尼尔智能科技有限公司 | A kind of Multi-function table tennis of the transmissibility principle based on power picks up ball trolley |
| CN111450508A (en) * | 2020-04-24 | 2020-07-28 | 滨州学院 | Tennis is swung and is clapped training automatically regulated service device |
| CN112494914A (en) * | 2020-11-27 | 2021-03-16 | 广东工业大学华立学院 | Transmission module of table tennis ball picking and sending device and transmission control method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109847302B (en) | 2020-11-24 |
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