CN112891891A - Three-axis ball serving holder with link mechanism - Google Patents
Three-axis ball serving holder with link mechanism Download PDFInfo
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- CN112891891A CN112891891A CN202110093447.8A CN202110093447A CN112891891A CN 112891891 A CN112891891 A CN 112891891A CN 202110093447 A CN202110093447 A CN 202110093447A CN 112891891 A CN112891891 A CN 112891891A
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- connecting rod
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- motor
- component
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
Abstract
A three-axis serving pan-tilt with a link mechanism comprises a top layer component, a middle layer component, an emission component, the link mechanism, a middle layer motor, a top layer motor and a steering motor arranged on a fixed object; the launching component comprises a barrel, a middle-layer motor is arranged on the middle-layer component, the middle-layer motor is connected with the launching component through a connecting rod mechanism and drives the launching component to rotate around the axis of the barrel, the top-layer motor is arranged on the top-layer component, the top-layer motor is connected with the middle-layer component and drives the middle-layer component to rotate around the first axis, and a steering motor is connected with the top-layer component and drives the top-layer component to rotate around the vertical axis; the first axis is horizontal and perpendicular to the axis of the barrel. The invention can rotate three shafts, has stable and accurate serving track, and belongs to the field of serving equipment.
Description
Technical Field
The invention relates to the field of ball serving equipment, in particular to a three-axis ball serving holder with a link mechanism.
Background
The application of the holder mechanism in life and some production can be very extensive. However, in reality, most of the serving holders are biaxial, so that some of the serving tracks are unstable due to the limitation of the freedom degree of the roll axis in the moving process, and finally, the purpose of accurate serving cannot be achieved.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the three-axis serving tripod head with the link mechanism is stable in serving track.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-axis serving pan-tilt with a link mechanism comprises a top layer component, a middle layer component, an emission component, the link mechanism, a middle layer motor, a top layer motor and a steering motor arranged on a fixed object;
the launching component comprises a barrel, a middle-layer motor is arranged on the middle-layer component, the middle-layer motor is connected with the launching component through a connecting rod mechanism and drives the launching component to rotate around the axis of the barrel, the top-layer motor is arranged on the top-layer component, the top-layer motor is connected with the middle-layer component and drives the middle-layer component to rotate around the first axis, and a steering motor is connected with the top-layer component and drives the top-layer component to rotate around the vertical axis; the first axis is horizontal and perpendicular to the axis of the barrel.
The connecting rod mechanism comprises a connecting rod set, the connecting rod set comprises a rocker, a left connecting rod and a right connecting rod, a middle-layer motor is connected with the rocker and drives the rocker to rotate around a second axis, two ends of the rocker are respectively hinged with one end of the left connecting rod and one end of the right connecting rod, the other end of the left connecting rod is hinged with the launching component through a first hinge point, the other end of the right connecting rod is hinged with the launching component through a second hinge point, and the left connecting rod and the right connecting rod are parallel and have the same length; the axis of barrel is parallel with the second axis, and the axis of barrel passes through the mid point of the line of first pin joint and second pin joint, and the second axis passes through the mid point of the line of the pin joint at rocker both ends.
The length of the left connecting rod and the length of the right connecting rod both refer to the distance between two hinge points at two ends of the left connecting rod and the right connecting rod.
After adopting this kind of structure, can carry out the rotation of three direction, and drive the launching component through link mechanism and carry out the roll rotation of axle, the orbit of serving is more steady.
Preferably, the middle layer part comprises a middle layer plate and a middle layer ball supply pipeline, the middle layer motor is arranged on the middle layer plate, the middle layer plate is fixedly connected with the middle layer ball supply pipeline, the middle layer ball supply pipeline is connected with the inlet of the gun barrel through a second revolute pair, and the axis of the second revolute pair is the same as the axis of the gun barrel; the top layer part comprises a top layer frame and a top layer ball supply pipeline, the top layer motor is installed on the top layer frame, the top layer frame is fixedly connected with the top layer ball supply pipeline, the top layer ball supply pipeline is connected with the middle layer ball supply pipeline through a first revolute pair, and the axis of the first revolute pair is the same as the first axis. After the structure is adopted, the ball body passes through the first revolute pair through the top ball supply pipeline and enters the middle ball supply pipeline, and then passes through the second revolute pair and enters the gun barrel to be ejected out in an accelerated mode.
Preferably, the number of the connecting rod groups is 2, the connecting rod groups are respectively a first connecting rod group and a second connecting rod group, the middle-layer motor is connected with a rocker of the first connecting rod group, the rocker of the second connecting rod group is connected with the middle-layer component through a third revolute pair, and the axis of the third revolute pair is the same as the axis of the second revolute pair.
Preferably, the middle-layer part comprises a fixed plate and a first limiting screw, a rocker of the second connecting rod group is rotatably connected with the fixed plate through a third revolute pair, an arc-shaped first limiting hole is formed in the fixed plate, the first limiting screw is fixedly connected with the rocker of the second connecting rod group, and the first limiting screw is inserted into the first limiting hole, so that the first limiting screw slides in an arc shape in the first limiting hole along with the rotation of the rocker. After adopting this kind of structure, can carry out the roll angle spacing.
Preferably, the third revolute pair is a flange bearing, the flange bearing is mounted on the fixed plate, and a rocker of the second linkage is connected with the flange bearing.
Preferably, the launching part further comprises a launching plate, friction wheels and a ball serving motor, the gun barrel is fixedly connected to the launching plate, the number of the friction wheels is 2, the friction wheels are located on two sides of the gun barrel, the ball serving motor is installed on the launching plate and drives the friction wheels to rotate, and the friction wheels are embedded into the gun barrel and drive the balls to eject.
Preferably, the firing member further comprises a pogo pin, a tip of which protrudes from a bottom of the barrel into the barrel. After the structure is adopted, the ball body is blocked by the spring thimble and stays in the gun tube in a non-shooting state, and cannot leak downwards.
Preferably, the first and second revolute pairs are both rolling bearings.
Preferably, the top layer frame comprises a top plate and a ball supply pipeline side plate, the ball supply pipeline side plate is fixedly connected with the top plate, the middle layer part further comprises a second limiting screw, the second limiting screw is fixedly connected with the middle layer ball supply pipeline, an arc-shaped second limiting hole is formed in the ball supply pipeline side plate, the second limiting screw is inserted into the second limiting hole, and therefore the second limiting screw slides in an arc shape in the second limiting hole along with the rotation of the middle layer ball supply pipeline.
Preferably, the number of the first limiting screws is 2, the first limiting screws are symmetrically arranged on the rocker of the second connecting rod group, and the number of the first limiting holes is 2.
In summary, the present invention has the following advantages: can be rotatory around the axis of barrel, increased the degree of freedom of a roll axle, can be by top layer motor and steering motor drive simultaneously, carry out the rotation of pitch and yaw axle, and roll and pitch axle can carry out the angle spacing, and is small, and the quality is light, but economical and practical, easy operation is reliable.
Drawings
Fig. 1 is a perspective view of a three-axis service head with a linkage mechanism.
Fig. 2 is a schematic structural diagram of a middle layer ball supply pipeline, a top layer ball supply pipeline and a gun barrel.
Fig. 3 is a schematic view of the structure of the top frame, the steering motor and the top motor.
Fig. 4 is a schematic structural view of the middle plate, the middle motor and the link mechanism.
Fig. 5 is a schematic view of the firing block with the barrel removed.
Fig. 6 is a perspective view of another perspective view of a three-axis serving head with a linkage mechanism.
The device comprises a spring ejector pin 1, a barrel 2, a first revolute pair 3, a middle-layer ball supply pipeline 4, a top-layer ball supply pipeline 5, a ball supply pipeline side plate 6, a steering motor 7, a top plate 8, a top-layer motor 9, a motor outer plate 10, a second limiting hole 11, a middle-layer plate 12, a first connecting rod group 13, a motor support 14, a middle-layer motor 15, a motor inner plate 16, a flange bearing 17, a second connecting rod group 18, a first limiting hole 19, a fixing plate 20, a transmitting plate 21, a connecting rod base 22, a ball serving motor 23, a friction wheel 24, a roller bearing sleeve 25, a rocker 26, a left connecting rod 27 and a right connecting rod 28.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
A three-axis serving pan-tilt with a link mechanism comprises a top layer component, a middle layer component, a transmitting component, the link mechanism, a middle layer motor 15, a top layer motor 9 and a steering motor 7 arranged on a fixed object;
the launching component comprises a barrel 2, a middle-layer motor is arranged on the middle-layer component, the middle-layer motor is connected with the launching component through a connecting rod mechanism and drives the launching component to rotate around the axis of the barrel, the top-layer motor is arranged on the top-layer component, the top-layer motor is connected with the middle-layer component and drives the middle-layer component to rotate around the first axis, and a steering motor is connected with the top-layer component and drives the top-layer component to rotate around the vertical axis; the first axis is horizontal and perpendicular to the axis of the barrel.
The connecting rod mechanism comprises a connecting rod set, the connecting rod set comprises a rocker 26, a left connecting rod 27 and a right connecting rod 28, a middle-layer motor is connected with the rocker and drives the rocker to rotate around a second axis, two ends of the rocker are respectively hinged with one end of the left connecting rod and one end of the right connecting rod, the other end of the left connecting rod is hinged with the transmitting component through a first hinge point, the other end of the right connecting rod is hinged with the transmitting component through a second hinge point, and the left connecting rod and the right connecting rod are parallel and have the same length; the axis of barrel is parallel with the second axis, and the axis of barrel passes through the mid point of the line of first pin joint and second pin joint, and the second axis passes through the mid point of the line of the pin joint at rocker both ends.
The middle layer part comprises a middle layer plate 12 and a middle layer ball supply pipeline 4, the middle layer motor is arranged on the middle layer plate, the middle layer plate is fixedly connected with the middle layer ball supply pipeline, the middle layer ball supply pipeline is connected with the inlet of the gun barrel through a second revolute pair, and the axis of the second revolute pair is the same as the axis of the gun barrel; the top layer part comprises a top layer frame and a top layer ball supply pipeline 5, the top layer motor is installed on the top layer frame, the top layer frame and the top layer ball supply pipeline are fixedly connected, the top layer ball supply pipeline and the middle layer ball supply pipeline are connected through a first revolute pair 3, and the axis of the first revolute pair is the same as the first axis. After the structure is adopted, the ball body passes through the first revolute pair through the top ball supply pipeline and enters the middle ball supply pipeline, and then passes through the second revolute pair and enters the gun barrel to be ejected out in an accelerated mode.
The number of the connecting rod groups is 2, the connecting rod groups are respectively a first connecting rod group 13 and a second connecting rod group 18, the middle layer motor is connected with a rocker of the first connecting rod group, the rocker of the second connecting rod group is connected with the middle layer component through a third revolute pair, and the axis of the third revolute pair is the same as the second axis.
The middle layer part comprises a fixed plate 20 and a first limiting screw, a rocker of the second connecting rod group is rotatably connected with the fixed plate through a third revolute pair, an arc-shaped first limiting hole 19 is formed in the fixed plate, the first limiting screw is fixedly connected with the rocker of the second connecting rod group, the first limiting screw is inserted into the first limiting hole, and therefore the first limiting screw slides in an arc shape in the first limiting hole along with the rotation of the rocker.
The third revolute pair is a flange bearing 17, the flange bearing is installed on the fixed plate, and a rocker of the second connecting rod group is connected with the flange bearing.
The launching part further comprises a launching plate 21, friction wheels 24 and a ball serving motor 23, the gun barrel is fixedly connected onto the launching plate, the number of the friction wheels is 2, the friction wheels are located on two sides of the gun barrel, the ball serving motor is installed on the launching plate and drives the friction wheels to rotate, and the friction wheels are embedded into the gun barrel and drive the balls to eject.
The launching component also comprises a spring thimble 1, and a needle head of the spring thimble extends into the gun tube from the bottom of the gun tube. After the structure is adopted, the ball body is blocked by the spring thimble and stays in the gun tube in a non-shooting state, and cannot leak downwards.
The first rotating pair and the second rotating pair are both rolling bearings.
The top layer frame includes roof 8 and confession ball pipeline curb plate 6, confession ball pipeline curb plate and roof fixed connection, and middle level part still includes the second stop screw, and second stop screw and middle level confession ball pipeline fixed connection open on the confession ball pipeline curb plate have curved second spacing hole 11, and the second stop screw inserts in the second spacing downthehole to the second stop screw supplies the rotation of ball pipeline at the spacing downthehole arc of second to slide along with the middle level.
The quantity of first stop screw is 2, and the symmetry is located on the rocker of second connecting rod group, and the quantity of first spacing hole is 2.
The fixed plate is fixedly connected with the middle layer plate, and the flange bearing is arranged on the fixed plate in an interference fit manner. The middle layer plate is fixed with a motor support 14, and the middle layer motor is arranged on the motor support.
The transmitting plate is provided with a connecting rod base 22, and the left connecting rod and the right connecting rod are both hinged with the connecting rod base.
The launching member further comprises a roller bearing package 25 through which the friction wheel is rotatably connected to the launch plate.
Still fixedly connected with motor outer panel 10 on the roof, the top layer motor is installed on the motor outer panel, and the output of top layer motor is connected with motor inner panel 16, motor inner panel and intermediate lamella fixed connection.
And the motor outer side plate and the ball supply pipeline side plate are all in mortise and tenon mounting with the top plate.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a triaxial service pan-tilt with link mechanism which characterized in that: the device comprises a top layer component, a middle layer component, an emission component, a connecting rod mechanism, a middle layer motor, a top layer motor and a steering motor arranged on a fixed object;
the launching component comprises a barrel, a middle-layer motor is arranged on the middle-layer component, the middle-layer motor is connected with the launching component through a connecting rod mechanism and drives the launching component to rotate around the axis of the barrel, the top-layer motor is arranged on the top-layer component, the top-layer motor is connected with the middle-layer component and drives the middle-layer component to rotate around the first axis, and a steering motor is connected with the top-layer component and drives the top-layer component to rotate around the vertical axis; the first axis is horizontal and perpendicular to the axis of the barrel; the connecting rod mechanism comprises a connecting rod set, the connecting rod set comprises a rocker, a left connecting rod and a right connecting rod, a middle-layer motor is connected with the rocker and drives the rocker to rotate around a second axis, two ends of the rocker are respectively hinged with one end of the left connecting rod and one end of the right connecting rod, the other end of the left connecting rod is hinged with the launching component through a first hinge point, the other end of the right connecting rod is hinged with the launching component through a second hinge point, and the left connecting rod and the right connecting rod are parallel and have the same length;
the axis of barrel is parallel with the second axis, and the axis of barrel passes through the mid point of the line of first pin joint and second pin joint, and the second axis passes through the mid point of the line of the pin joint at rocker both ends.
2. The three-axis serving head with a linkage according to claim 1, wherein: the middle layer part comprises a middle layer plate and a middle layer ball supply pipeline, the middle layer motor is arranged on the middle layer plate, the middle layer plate is fixedly connected with the middle layer ball supply pipeline, the middle layer ball supply pipeline is connected with the inlet of the gun barrel through a second revolute pair, and the axis of the second revolute pair is the same as the axis of the gun barrel;
the top layer part comprises a top layer frame and a top layer ball supply pipeline, the top layer motor is installed on the top layer frame, the top layer frame is fixedly connected with the top layer ball supply pipeline, the top layer ball supply pipeline is connected with the middle layer ball supply pipeline through a first revolute pair, and the axis of the first revolute pair is the same as the first axis.
3. The three-axis serving head with a linkage according to claim 1, wherein: the number of the connecting rod groups is 2, the connecting rod groups are respectively a first connecting rod group and a second connecting rod group, the middle layer motor is connected with a rocker of the first connecting rod group, the rocker of the second connecting rod group is connected with the middle layer component through a third revolute pair, and the axis of the third revolute pair is the same as the second axis.
4. The three-axis serving head with a linkage according to claim 3, wherein: the middle layer part comprises a fixed plate and a first limiting screw, a rocker of the second connecting rod group is rotatably connected with the fixed plate through a third revolute pair, a first arc-shaped limiting hole is formed in the fixed plate, the first limiting screw is fixedly connected with the rocker of the second connecting rod group, the first limiting screw is inserted into the first limiting hole, and therefore the first limiting screw slides in an arc shape in the first limiting hole along with the rotation of the rocker.
5. The three-axis serving head with a linkage according to claim 4, wherein: the third revolute pair is a flange bearing, the flange bearing is installed on the fixed plate, and a rocker of the second connecting rod group is connected with the flange bearing.
6. The three-axis serving head with a linkage according to claim 1, wherein: the launching part further comprises a launching plate, friction wheels and a ball serving motor, the gun tubes are fixedly connected onto the launching plate, the number of the friction wheels is 2, the friction wheels are located on two sides of the gun tubes, the ball serving motor is installed on the launching plate and drives the friction wheels to rotate, and the friction wheels are embedded into the gun tubes and drive the balls to eject.
7. The three-axis serving head with a linkage according to claim 1, wherein: the launching component also comprises a spring thimble, and a needle head of the spring thimble extends into the gun tube from the bottom of the gun tube.
8. The three-axis serving head with a linkage according to claim 2, wherein: the first rotating pair and the second rotating pair are both rolling bearings.
9. The three-axis serving head with a linkage according to claim 2, wherein: the top layer frame comprises a top plate and a ball supply pipeline side plate, the ball supply pipeline side plate is fixedly connected with the top plate, the middle layer part further comprises a second limiting screw, the second limiting screw is fixedly connected with the middle layer ball supply pipeline, a curved second limiting hole is formed in the ball supply pipeline side plate, the second limiting screw is inserted into the second limiting hole, and therefore the second limiting screw slides in the second limiting hole along with the rotation of the middle layer ball supply pipeline in an arc mode.
10. The three-axis serving head with a linkage according to claim 4, wherein: the quantity of first stop screw is 2, and the symmetry is located on the rocker of second connecting rod group, and the quantity of first spacing hole is 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110093447.8A CN112891891A (en) | 2021-01-22 | 2021-01-22 | Three-axis ball serving holder with link mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110093447.8A CN112891891A (en) | 2021-01-22 | 2021-01-22 | Three-axis ball serving holder with link mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112891891A true CN112891891A (en) | 2021-06-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110093447.8A Pending CN112891891A (en) | 2021-01-22 | 2021-01-22 | Three-axis ball serving holder with link mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN112891891A (en) |
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| CN206989816U (en) * | 2017-05-10 | 2018-02-09 | 昆明理工大学 | A kind of emitter being mounted on head |
| CN110538443A (en) * | 2019-08-09 | 2019-12-06 | 西交利物浦大学 | Table tennis training robot with visual identification function |
| CN214485572U (en) * | 2021-01-22 | 2021-10-26 | 华南理工大学 | Three-axis ball serving cradle head |
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2021
- 2021-01-22 CN CN202110093447.8A patent/CN112891891A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106955487A (en) * | 2014-08-29 | 2017-07-18 | 深圳市大疆创新科技有限公司 | Shooting game device |
| CN204347614U (en) * | 2014-12-17 | 2015-05-20 | 华中科技大学 | A kind of for submarine navigation device Three Degree Of Freedom attitude-simulating device |
| CN106512364A (en) * | 2016-11-22 | 2017-03-22 | 华南理工大学 | Emitter with 360-degree cradle head and controllable trajectory direction track |
| CN107087423A (en) * | 2016-12-28 | 2017-08-22 | 深圳市大疆灵眸科技有限公司 | Supporting arm assembly and the head with the supporting arm assembly |
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