CN113398550B - Service device for fully-automatically recovering table tennis - Google Patents
Service device for fully-automatically recovering table tennis Download PDFInfo
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- CN113398550B CN113398550B CN202110563442.7A CN202110563442A CN113398550B CN 113398550 B CN113398550 B CN 113398550B CN 202110563442 A CN202110563442 A CN 202110563442A CN 113398550 B CN113398550 B CN 113398550B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
- A63B67/04—Table games physically beneficial for the human body, modelled on outdoor sports, e.g. table tennis
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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
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
- A63B69/406—Stationarily-arranged devices for projecting balls or other bodies with rotating discs, wheels or pulleys gripping and propelling the balls or bodies by friction
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
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- General Health & Medical Sciences (AREA)
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Abstract
The application discloses a full-automatic table tennis ball recovery service device, which comprises a base system, a recovery system, a service system and a control system, wherein the service system is arranged on a mounting frame in the base system, the service height of the service system is regulated by the base system, the recovery system is arranged on a bottom plate in the base system and is matched with the service system, the recovery system recovers the hit table tennis balls to the service system, the control system is arranged on the service system, and the control system is in control connection with the service system. The application is beneficial to realizing full-automatic recovery and service of the table tennis, saves time and energy for picking up the table tennis and improves the ball practice efficiency.
Description
Technical Field
The application relates to a service device for fully automatically recovering table tennis, and belongs to the field of table tennis devices.
Background
The table tennis is popular in China as a sport suitable for both the old and the young, and as a sport with relatively strong skill, a beginner needs to spend a certain amount of energy for training, and a professional athlete also has a certain requirement on the rotating quality of serving, so that the table tennis service robot has a great market demand.
Disclosure of Invention
In order to solve the problem of fully-automatic recovery of the table tennis, the application provides the service device for fully-automatically recovering the table tennis, which takes the air blower as power to realize the movement from bottom to top for the movement of the table tennis, is beneficial to realizing the fully-automatic recovery of the table tennis and reduces the time and energy for picking up the table tennis.
The technical scheme adopted in the application is as follows:
the utility model provides a full-automatic service device who retrieves table tennis, includes base system, recovery system, service system and control system, the service system is installed on the mounting bracket in the base system, by the service height of base system regulation service system, recovery system installs on the bottom plate in the base system, and with the service system cooperation is installed, retrieves the service system with the table tennis of batting back by recovery system, control system installs on the service system, just control system with service system and recovery system control connection.
Preferably, the base system comprises a plurality of movable rollers, a bottom plate, a sliding rail, locking screws, a sliding block, a triangular stabilizer and a mounting frame, wherein the plurality of movable rollers are arranged at the bottom end of the bottom plate, the sliding rail is fixed on the top surface of the bottom plate through countersunk bolts, a plurality of threaded holes are formed in the sliding rail, the sliding block is arranged in the sliding rail in a sliding manner and moves along the sliding rail, the sliding block is fixedly locked through the locking screws in a matched mode through the threaded holes in the sliding rail, the bottom end of one supporting leg of the triangular stabilizer is connected with the sliding block, the other two supporting legs of the triangular stabilizer are mounted on the bottom plate, and the mounting frame is mounted at the top end of the triangular stabilizer and used for fixing a ball serving system.
Preferably, the triangular stabilizing frame comprises a first supporting leg, a second supporting leg and a third supporting leg, wherein the bottom ends of the first supporting leg are connected with the sliding block, the bottom ends of the second supporting leg and the third supporting leg are connected with a connecting seat on the top surface of the bottom plate through a revolute pair, the connecting seat is fixed on the bottom plate through a countersunk bolt, and the top ends of the first supporting leg, the second supporting leg and the third supporting leg are connected with the mounting frame in a revolute pair mode.
Preferably, the recycling system comprises a recycling box, a supporting frame, a blower, a bottom infrared sensor module, a ball guide channel, a conveying channel, a top infrared sensor module and a baffle plate, wherein the supporting frame is fixed on the bottom plate in a bolt connection mode, the recycling box is installed on the supporting frame, one end of the ball guide channel is communicated with a ball falling port of the recycling box, the other end of the ball guide channel is in matched connection with the lower end of the conveying channel in a track of an intersecting line, the ball guide channel is obliquely arranged along the direction from the recycling box to the lower end of the conveying channel, and the baffle plate is arranged at one end of the ball guide channel close to the conveying channel; the bottom of transfer passage is equipped with the air-blower, air-blower fixed mounting is in the bottom plate upper surface, the top play ball mouth of transfer passage is located the ball storage box top of service device, bottom infrared sensor module installs bottom position in the transfer passage, top infrared sensor module sets up top play ball mouth position department in the transfer passage.
Preferably, the ball guide channel is close to an inner baffle mounting hole at one end of the conveying channel, the ball guide channel is mounted in the baffle mounting hole, and the bottom of the baffle is provided with a certain inclination which is the same as the inclination of the ball guide channel.
Preferably, the service system comprises a launch conduit, a housing upper cover, a ball-dividing device, a ball-storing box, a first power wheel, a steering gear, a first power motor, a steering motor, a second power motor and a second power wheel, wherein,
the bottom of the shell is fixedly arranged on the mounting frame, the top of the shell is provided with a shell upper cover, the shell upper cover is provided with a round hole for passing through a ball falling pipeline of the ball storage box, the ball storage box is arranged outside the shell and is positioned right below a ball outlet at the top of the conveying channel, and the ball falling channel of the ball storage box passes through the round hole on the shell upper cover and is inserted into the shell to work in cooperation with a ball distributing device arranged in the shell;
the central shaft of the steering gear is connected with the output shaft of the steering motor, the steering motor is fixedly arranged in the shell and is positioned right below the transmitting catheter, and two threading holes are symmetrically formed at two ends of the steering gear and are respectively used for penetrating through two traction ropes connected with threading pipes at two sides of the transmitting catheter; the central shaft of the steering gear is connected with the output shaft of the steering motor, the steering motor is fixedly arranged in the shell and is positioned right below the transmitting catheter, and two ends of the steering gear are symmetrically provided with threading holes which are respectively used for penetrating through two traction ropes connected with two sides of the transmitting catheter;
the first power motor and the second power motor are respectively fixedly installed at the inner bottom of the shell and are positioned at the two sides of the transmitting guide pipe, an output shaft of the first power motor is connected with a rotating shaft of the first power wheel, an output shaft of the second power motor is connected with a rotating shaft of the second power wheel, and the first power motor and the second power wheel are respectively positioned at the two sides of the transmitting guide pipe and are matched with a power groove on the transmitting guide pipe.
Preferably, the ball distributing device comprises a ball distributing box, a ball distributing box upper cover, a ball distributing wheel disc and a ball distributing motor, wherein the ball distributing box is fixedly arranged at the inner bottom of the shell, the ball distributing motor is fixedly arranged at the inner bottom of the shell and is positioned at the central position in the ball distributing box, an output shaft of the ball distributing motor is connected with a central shaft of the ball distributing wheel disc, a plurality of ball grooves are uniformly formed in the ball distributing wheel disc along the circumferential direction, the ball grooves are U-shaped ball grooves which are outwards opened, the ball grooves are matched with ball outlets of the ball distributing box, the ball distributing box upper cover is arranged at the top of the ball distributing box, and notches corresponding to ball falling openings and the ball grooves of the ball storing box are formed in the ball distributing box upper cover.
Preferably, rubber rings are arranged on the first power wheel and the second power wheel.
Preferably, the control system is respectively connected with the first power motor, the steering motor, the second power motor, the ball distributing motor and the blower in a control manner, and the top infrared sensor module and the bottom infrared sensor module are respectively connected with the control system in a signal transmission manner.
Preferably, the shell is internally provided with a plurality of fixed upright posts for determining the installation height of the ball-dividing box and the transmitting guide tube.
The beneficial effects are that: the application provides a service device for fully automatically recovering table tennis, which has the following advantages: the fan is used as power to realize the movement of the table tennis ball from bottom to top; the recovery system is matched with the service system to realize full-automatic recovery and service of the table tennis, so that the training efficiency of the player is improved, and the time and energy consumed by picking up the table tennis are saved.
Drawings
FIG. 1 is a schematic view of the structure of the device of the present application;
FIG. 2 is a schematic view of the base system of the apparatus of the present application;
FIG. 3 is a schematic view of the recovery system of the apparatus of the present application;
FIG. 4 is a partial cross-sectional view of the recovery system of the apparatus of the present application;
FIG. 5 is a schematic view of the structure of the service system of the device of the present application;
FIG. 6 is a schematic view of a launch conduit of a tee system of the apparatus of the present application;
FIG. 7 is a schematic view of the internal structure of the service system of the apparatus of the present application;
FIG. 8 is a schematic view of the structure of a ball dispensing disc of the service system of the apparatus of the present application;
FIG. 9 is a schematic diagram of the motor positions of the service system of the apparatus of the present application;
FIG. 10 is a schematic view of a diverter of the service system of the apparatus of the present application;
in the figure: the base system 1, the roller 101, the base plate 102, the slide rail 103, the locking screw 104, the slider 105, the triangular stabilizer 106, the mounting bracket 107, the first leg 108, the second leg 109, the third leg 110, the threaded hole 111, the connection base 112, the recovery system 2, the recovery box 201, the support frame 202, the blower 203, the bottom infrared sensing module 204, the ball guide channel 205, the transfer channel 206, the top infrared sensing module 207, the baffle 208, the serving system 3, the launching conduit 301, the housing 302, the housing upper cover 303, the ball storage box 304, the ball distribution box 305, the ball distribution box upper cover 306, the rubber ring 307, the first power wheel 308, the ball distribution wheel disc 309, the diverter 310, the first power motor 311, the diverter motor 312, the ball distribution motor 313, the second power motor 314, the second power wheel 315, the power slot 316, the ball distribution limit slot 317, the central shaft 318, the threading hole 319, the ball slot 320, the fixed upright 321, the threading tube 323, the arc notch 323, and the control system 4.
Detailed Description
In order to better understand the technical solutions of the present application for those skilled in the art, the following description of the technical solutions of the embodiments of the present application will be clearly and completely described, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
Example 1
As shown in fig. 1, a service device for fully automatically recovering table tennis balls comprises a base system 1, a recovery system 2, a service system 3 and a control system 4, wherein the service system 3 is installed on a mounting frame 107 in the base system 1, the service height of the service system 3 is regulated by the base system 1, the recovery system 2 is installed on a bottom plate 102 in the base system 1 and is matched with the service system 3, the recovery system 2 recovers the hit table tennis balls to the service system 3, the control system 4 is installed on the service system 3, and the control system 4 is in control connection with the service system 3 and the recovery system 2.
As shown in fig. 2, the base system 1 includes a plurality of moving rollers 101, a bottom plate 102, a sliding rail 103, a locking screw 104, a sliding block 105, a triangular stabilizer 106 and a mounting frame 107, wherein the bottom end of the bottom plate 102 is provided with a plurality of moving rollers, the sliding rail 103 is fixed on the top surface of the bottom plate 102 through countersunk bolts, a plurality of threaded holes 111 are formed in the sliding rail 103, the sliding block 105 is slidably arranged in the sliding rail 103 and moves along the sliding rail 103, the sliding block 105 is matched and locked and fixed with the threaded holes in the sliding rail 103 through the locking screw 104, one bottom end of a supporting leg of the triangular stabilizer 106 is connected with the sliding block, the other two supporting legs of the triangular stabilizer 106 are mounted on the bottom plate 102, and the mounting frame 107 is mounted on the top end of the triangular stabilizer 106 and is used for fixing the ball serving system 3.
In the application, the triangular stabilizer 106 comprises a first supporting leg 108, a second supporting leg 109 and a third supporting leg 110, wherein the bottom ends of the first supporting leg are connected with the sliding block 105, the bottom ends of the second supporting leg 109 and the third supporting leg 110 are connected with a connecting seat 112 on the top surface of the bottom plate through a revolute pair, the connecting seat 112 is fixed on the bottom plate 102 through countersunk bolts, and the top ends of the first supporting leg 108, the second supporting leg 109 and the third supporting leg 110 are connected with the mounting frame 107 in a revolute pair mode.
In this embodiment, the base system stabilizes the tee system 3 by a tripod 106 and controls the height of the tee by moving the position of the slide 105.
In this embodiment, the bottom plate 102 is rounded, the locking screw 104 is knurled, the sliding rail 103 is connected to the middle position of the bottom plate 102 by adopting a countersunk bolt, and after the height of the service system 3 is determined, the height can be locked by the triangular stabilizer 106, so that the service system 3 is stable.
As shown in fig. 3-4, the recycling system 2 includes a recycling box 201, a supporting frame 202, a blower 203, a bottom infrared sensor module 204, a ball guide channel 205, a conveying channel 206, a top infrared sensor module 207, and a baffle 208, wherein the supporting frame 202 is fixed on the bottom plate 102 in a bolt connection manner, the recycling box 201 is installed on the supporting frame 202, one end of the ball guide channel 205 is communicated with a ball drop port of the recycling box 201, the other end of the ball guide channel 205 is in fit connection with the lower end of the conveying channel 206 in an intersecting line track, the ball guide channel 205 is obliquely arranged along the direction from the recycling box 201 to the lower end of the conveying channel 206, and the baffle 208 is arranged at one end of the ball guide channel 205 close to the conveying channel; the bottom of the conveying channel 206 is provided with a blower 203, the blower 203 is fixedly installed on the upper surface of the bottom plate 102, a ball outlet at the top end of the conveying channel 206 is located above a ball storage box of the ball serving device, the bottom infrared sensor module 204 is installed at the bottom position in the conveying channel 206, and the top infrared sensor module 207 is arranged at the top ball outlet position in the conveying channel 206.
The ball guide channel 205 is close to an inner baffle mounting hole at one end of the conveying channel 206, the ball guide channel is mounted in the baffle mounting hole, the bottom of the baffle 208 has a certain inclination and is the same as the inclination of the ball guide channel 205, so that unidirectional movement of the baffle 208 can be realized, and the tightness of the air duct is realized.
In this embodiment, the baffle 208 and the ball guide channel 205 are mounted by bolts, and the friction is as small as possible, so that the gravity component of the table tennis ball can move away from the baffle 208 and fall into the conveying channel. The recovery box 201 is mounted in a position lower than the service system.
As shown in fig. 5-7, the service system 3 includes a launch conduit 301, a housing 302, a housing upper cover 303, a ball dispenser, a ball storage case 304, a first power wheel 308, a diverter 310, a first power motor 311, a diversion motor 312, a second power motor 314, and a second power wheel 315, wherein,
the bottom of the shell 302 is fixedly arranged on the mounting frame 107, the top of the shell 302 is provided with a shell upper cover 303, the shell upper cover 303 is provided with a round hole for passing through a ball falling pipeline of the ball storage box 304, the ball storage box 304 is arranged outside the shell 302 and is positioned right below a ball outlet at the top of the conveying channel 206, and the ball falling channel of the ball storage box 304 passes through the round hole on the shell upper cover 303 and is inserted into the shell to work in cooperation with a ball distributing device arranged in the shell 302;
the ball outlet of the ball distributing device is communicated with the ball inlet of the transmitting catheter 301, the transmitting catheter 301 is installed in the housing, the ball outlet of the transmitting catheter 301 penetrates out of the ball-serving limiting groove 317 formed in the housing, symmetrical power grooves 316 are formed in two side edges of one end, close to the ball outlet of the ball distributing device, of the transmitting catheter 301, a plurality of threading pipes 322 and arc-shaped notches 323 are symmetrically formed in two sides of one end, close to the ball outlet, of the transmitting catheter 301, the threading pipes 322 are arranged at intervals with the arc-shaped notches 323, and two traction ropes respectively penetrate through the threading pipes 322 in two sides of the transmitting catheter 301 in sequence to be connected with the steering gear 310; in the application, the threading pipe plays a traction role, and the arc notch is used for realizing flexible steering of the launching catheter, thereby realizing the change of the ball serving direction. The number of the threading pipes can be selected and set according to actual conditions.
As shown in fig. 10, a central shaft 318 of the steering device 310 is connected with an output shaft of the steering motor 312, the steering motor 312 is fixedly installed in the housing 302 and is located right below the launching catheter 301, and two threading holes 319 are symmetrically formed at two ends of the steering device and are respectively used for passing through two traction ropes connected with threading pipes 322 at two sides of the launching catheter 301;
the first power motor 311 and the second power motor 314 are respectively and fixedly installed at the bottom in the shell 302 and are positioned at two sides of the transmitting conduit 301, an output shaft of the first power motor 311 is connected with a rotating shaft of the first power wheel 308, an output shaft of the second power motor 314 is connected with a rotating shaft of the second power wheel 305, and the first power motor 311 and the second power wheel 305 are respectively positioned at two sides of the transmitting conduit 301 and are matched with a power groove 316 on the transmitting conduit 301.
As shown in fig. 8-9, the ball separating device includes a ball separating box 305, a ball separating box upper cover 306, a ball separating wheel disc 309 and a ball separating motor 313, the ball separating box 305 is fixedly installed at the bottom in the housing 302, the ball separating motor 313 is fixedly installed at the bottom in the housing 302 and is located at the center position in the ball separating box 305, an output shaft of the ball separating motor 313 is connected with a center shaft of the ball separating wheel disc 309, the ball separating wheel disc 309 is uniformly provided with a plurality of ball grooves 320 along the circumferential direction, the ball grooves are all U-shaped ball grooves with outward openings, the ball grooves 320 are matched with ball outlets of the ball separating box 305, the ball separating box upper cover 306 is arranged at the top of the ball separating box 305, the ball separating box upper cover 306 is provided with notches corresponding to ball falling ports and ball grooves of the ball storing box 304, and the ball separating box 305 is not in direct contact with the ball separating wheel disc 309. In this embodiment, the number of the ball grooves is 6.
In this embodiment, the outer sides Zhou Jun of the first power wheel 308 and the second power wheel 315 are sleeved with rubber rings for increasing friction.
The control system 4 is respectively in control connection with the first power motor 311, the steering motor 312, the second power motor 314, the ball distributing motor 313 and the blower 203, and the top infrared sensor module 207 and the bottom infrared sensor module 204 are respectively in signal transmission connection with the control system 4. In this embodiment, the signals collected by the top infrared sensor module 207 and the bottom infrared sensor module 204 are transmitted to the control system in a feedback manner after being changed, and the control system controls the start and stop of the blower through the received feedback signals. In this embodiment, the control system adjusts the rotational speed of ball-dividing motor and can control the speed of launching of table tennis, adjusts the rotational speed of first power motor and second power motor and can control the transmission power of table tennis, and control steering motor can stimulate the transmission pipe towards different directions.
Preferably, the housing 302 has a plurality of fixing posts 321 therein for determining the mounting height of the ball-dividing box 305 and the launching catheter 301.
In the embodiment, all the channels are slightly larger than the diameter of the table tennis ball by 40mm, so that the smooth movement of the table tennis ball can be ensured.
In the embodiment, the first power motor, the steering motor, the ball separating motor and the second power motor are servo motors with sensors, so that accurate control of positions can be realized, and the power line and the sensor control line are connected with the control system through a wiring channel in the shell.
The transmitting catheter in this embodiment is made of nylon material, and adopts a 3D printing process, the threading pipes on two sides of the tail of the transmitting catheter are threaded with equal nylon wires as traction ropes to be connected with the steering gear 310, the initial position of the steering gear 310 is vertical to the transmitting catheter 301, and after the steering motor 310 moves for a certain angle, the tail of the transmitting catheter is pulled by the two traction ropes due to uneven stress, so that the transmitting in different directions is realized.
In the application, the working principle of the base system is as follows:
the base system 1 is a carrier on which the serve system 3 and the recovery system 2 are mounted. The height of the triangular stabilizing frame 106 can be adjusted by moving the sliding block 105 in the sliding rail 103, so that the height of the service system fixed on the mounting frame 107 can be adjusted, and the bottom plate 102 is provided with four rollers in a descending manner, so that the whole device can be conveniently moved in a labor-saving manner.
In the application, the working principle of the recovery system is as follows:
the mounting position of the recovery box 201 should be as low as possible. The recovery process of the table tennis ball is as follows, when the table tennis ball is hit back by a person, the table tennis ball is collected by the blocking net and falls into the recovery box, then under the action of gravity, the table tennis ball passes through the ball guide channel 205 with a certain gradient, the baffle 208 arranged at the tail end of the ball guide channel 205 is knocked open, the table tennis ball falls into the conveying channel 206 arranged on the blower 203, the bottom infrared sensor module 204 arranged at the bottom of the conveying channel 206 is triggered, at the moment, the blower starts to work, the baffle 208 can firmly block the ball guide channel 205 under the action of wind force because the bevel at the bottom of the baffle can only rotate unidirectionally, at the moment, the recovery system can form a unique air channel, and the table tennis ball rises along the conveying channel 206 under the action of wind force and falls into the ball storage box 304 of the service system 3, so that the recovery of the table tennis ball is realized. Meanwhile, the table tennis balls can trigger the top infrared sensor module 207 on the top of the conveying channel 206, at the moment, the blower is immediately closed, the baffle 208 loses the obstruction of wind force, the next table tennis ball pushes away the baffle, the previous process is repeated, the cyclic recovery of the table tennis balls is realized, the whole process is powered by the blower, the participation of people is not needed, and the labor is greatly saved.
In the application, the service system works as follows:
when a certain number of table tennis balls are loaded in the ball storage box, the ball distribution motor is controlled to rotate, so that the ball distribution wheel disc is driven to rotate, the table tennis balls in the ball storage box fall into the ball groove 320 of the ball distribution wheel disc 309, when the ball distribution motor rotates to drive the ball groove 320 of the ball distribution wheel disc 309 to rotate and align to the outlet of the ball distribution box, the table tennis balls enter the transmitting guide tube 301 (the application can adjust the inclined structure of the whole ball serving system through the triangular stabilizing frame), at the moment, the control system controls the first power motor 311 and the second power motor 314 to respectively drive the first power wheel 308 and the second power wheel 305 to rotate at high speed, and the first power wheel 308 and the second power wheel 305 rub with the table tennis balls in the transmitting guide tube 301 through the power groove, so that the table tennis balls in the transmitting guide tube 301 slide out at high speed, and the table tennis ball transmitting is realized.
When the launching direction needs to be adjusted, the steering motor is controlled to drive the steering gear to rotate, so that the two traction ropes connected with the threading holes on the two sides of the launching conduit 301 are stressed unevenly, and the launching conduit 301 is pulled to adjust the launching direction along the launching limit groove 317, so that launching in different directions is achieved.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (6)
1. The utility model provides a full-automatic service device who retrieves table tennis, its characterized in that includes base system (1), recovery system (2), service system (3) and control system (4), service system (3) install on mounting bracket (107) in base system (1), by base system (1) adjust the service height of service system (3), recovery system (2) install on bottom plate (102) in base system (1) and with service system (3) cooperation installation, retrieve service system (3) with the table tennis of hitting back by recovery system (2), control system (4) install on service system (3), and control system (4) with service system (3) and recovery system (2) control connection;
the recovery system (2) comprises a recovery box (201), a support frame (202), a blower (203), a bottom infrared sensor module (204), a ball guide channel (205), a conveying channel (206), a top infrared sensor module (207) and a baffle plate (208), wherein the support frame (202) is fixed on the bottom plate (102) in a bolt connection mode, the recovery box (201) is installed on the support frame (202), one end of the ball guide channel (205) is communicated with a ball falling port of the recovery box (201), the other end of the ball guide channel (205) is connected with the lower end of the conveying channel (206) in a matched mode according to the track of an intersecting line, the ball guide channel (205) is obliquely arranged along the direction from the recovery box (201) to the lower end of the conveying channel (206), and the baffle plate (208) is arranged at one end of the ball guide channel (205) close to the conveying channel; the bottom end of the conveying channel (206) is provided with a blower (203), the blower (203) is fixedly arranged on the upper surface of the bottom plate (102), a ball outlet at the top end of the conveying channel (206) is positioned above a ball storage box of the ball serving device, the bottom infrared sensor module (204) is arranged at the bottom position in the conveying channel (206), and the top infrared sensor module (207) is arranged at the position of the ball outlet at the top in the conveying channel (206);
an inner baffle mounting hole is formed in one end, close to the conveying channel (206), of the ball guide channel (205), the ball guide channel is mounted in the baffle mounting hole, and the bottom of the baffle (208) is provided with a certain inclination and is the same as the inclination of the ball guide channel (205);
the service system (3) comprises a transmitting guide pipe (301), a shell (302), a shell upper cover (303), a ball separating device, a ball storage box (304), a first power wheel (308), a steering gear (310), a first power motor (311), a steering motor (312), a second power motor (314) and a second power wheel (315), wherein,
the bottom of the shell (302) is fixedly arranged on the mounting frame (107), the top of the shell (302) is provided with a shell upper cover (303), the shell upper cover (303) is provided with a round hole for passing through a ball falling pipeline of the ball storage box (304), the ball storage box (304) is arranged outside the shell (302) and is positioned right below a ball outlet at the top of the conveying channel (206), and a ball falling channel of the ball storage box (304) passes through the round hole on the shell upper cover (303) and is inserted into the shell to work in cooperation with a ball distributing device arranged in the shell;
the ball outlet of the ball distributing device is communicated with the ball inlet of the transmitting catheter (301), the transmitting catheter (301) is installed in the shell, the ball outlet of the transmitting catheter (301) penetrates out of a ball sending limit groove (317) formed in the shell, symmetrical power grooves (316) are formed in two side edges of one end, close to the ball outlet of the ball distributing device, of the transmitting catheter (301), a plurality of threading pipes (322) and arc-shaped notches (323) which are arranged in a arrayed mode are symmetrically formed in two sides of one end, close to the ball outlet, of the transmitting catheter (301), the threading pipes (322) and the arc-shaped notches (323) are arranged at intervals, and two traction ropes respectively penetrate through the threading pipes (322) on two sides of the transmitting catheter (301) in sequence to be connected with the steering gear (310);
the central shaft (318) of the steering device (310) is connected with the output shaft of the steering motor (312), the steering motor (312) is fixedly arranged in the shell (302) and is positioned right below the transmitting catheter (301), and two threading holes (319) are symmetrically arranged at two ends of the steering device and are respectively used for penetrating through two traction ropes connected with two threading pipes (322) at two sides of the transmitting catheter (301);
the first power motor (311) and the second power motor (314) are respectively and fixedly arranged at the inner bottom of the shell (302) and are positioned at two sides of the transmitting guide pipe (301), an output shaft of the first power motor (311) is connected with a rotating shaft of the first power wheel (308), an output shaft of the second power motor (314) is connected with a rotating shaft of the second power wheel (305), and the first power motor (311) and the second power wheel (305) are respectively positioned at two sides of the transmitting guide pipe (301) and are matched with a power groove (316) on the transmitting guide pipe (301);
the ball separating device comprises a ball separating box (305), a ball separating box upper cover (306), a ball separating wheel disc (309) and a ball separating motor (313), wherein the ball separating box (305) is fixedly arranged at the inner bottom of the shell (302), the ball separating motor (313) is fixedly arranged at the inner bottom of the shell (302) and is positioned at the central position in the ball separating box (305), an output shaft of the ball separating motor (313) is connected with a central shaft of the ball separating wheel disc (309), a plurality of ball grooves (320) are uniformly formed in the ball separating wheel disc (309) along the circumferential direction, the ball grooves are U-shaped ball grooves with outward openings, the ball grooves (320) are matched with ball outlets of the ball separating box (305), the top of the ball separating box (305) is provided with a ball separating box upper cover (306), and the ball separating box upper cover (306) is provided with notches corresponding to ball falling openings and ball grooves of the ball storing boxes (304).
2. The full-automatic table tennis ball serving device according to claim 1, wherein the base system (1) comprises a plurality of moving rollers (101), a bottom plate (102), a sliding rail (103), a locking screw (104), a sliding block (105), a triangular stabilizer (106) and a mounting frame (107), wherein the bottom end of the bottom plate (102) is provided with the plurality of moving rollers, the sliding rail (103) is fixed on the top surface of the bottom plate (102) through countersunk bolts, the sliding rail (103) is provided with a plurality of threaded holes (111), the sliding block (105) is slidably arranged in the sliding rail (103) and moves along the sliding rail (103), the sliding block (105) is matched and locked and fixed with the threaded holes (111) on the sliding rail (103) through the locking screw (104), one bottom end of a supporting leg of the triangular stabilizer (106) is connected with the sliding block (105), the other two supporting legs of the triangular stabilizer (106) are mounted on the bottom plate (102), and the mounting frame (107) is mounted on the top end of the triangular stabilizer (106) and used for fixing the ball serving system (3).
3. The full-automatic table tennis ball serving device according to claim 2, wherein the triangular stabilizer (106) comprises a first supporting leg (108), a second supporting leg (109) and a third supporting leg (110), the bottom ends of the first supporting leg are connected with the sliding block (105), the bottom ends of the second supporting leg (109) and the third supporting leg (110) are connected with a connecting seat (112) on the top surface of the bottom plate through a revolute pair, the connecting seat (112) is fixed on the bottom plate (102) through countersunk bolts, and the top ends of the first supporting leg (108), the second supporting leg (109) and the third supporting leg (110) are connected with the mounting frame (107) in the form of revolute pairs.
4. A fully automatic table tennis ball retrieving service device according to claim 3, wherein the outer circumferences of the first power wheel (308) and the second power wheel (315) are respectively sleeved with a rubber ring (307).
5. The full-automatic table tennis ball serving device according to claim 4, wherein the control system (4) is respectively in control connection with the first power motor (311), the steering motor (312), the second power motor (314), the ball separating motor (313) and the blower (203), and the top infrared sensor module (207) and the bottom infrared sensor module (204) are respectively in signal transmission connection with the control system (4); the signals collected by the top infrared sensor module (207) and the bottom infrared sensor module (204) are transmitted to the control system in a feedback mode after being changed, and the control system controls the start and stop of the blower through the received feedback signals.
6. The full-automatic table tennis ball serving device according to claim 5, wherein a plurality of fixing posts (321) are arranged in the shell (302) for determining the installation height of the ball separating box (305) and the launching guide tube (301).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110563442.7A CN113398550B (en) | 2021-05-24 | 2021-05-24 | Service device for fully-automatically recovering table tennis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110563442.7A CN113398550B (en) | 2021-05-24 | 2021-05-24 | Service device for fully-automatically recovering table tennis |
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| Publication Number | Publication Date |
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| CN113398550A CN113398550A (en) | 2021-09-17 |
| CN113398550B true CN113398550B (en) | 2023-08-15 |
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| CN202110563442.7A Active CN113398550B (en) | 2021-05-24 | 2021-05-24 | Service device for fully-automatically recovering table tennis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114699758B (en) * | 2022-03-24 | 2023-03-28 | 扬州大学 | Ball arranging device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018113640A1 (en) * | 2016-12-19 | 2018-06-28 | 绍兴凯健科技有限公司 | Table tennis training robot |
| CN111420379A (en) * | 2020-05-18 | 2020-07-17 | 西安欧亚学院 | Table tennis training device |
| CN112090049A (en) * | 2020-09-23 | 2020-12-18 | 河南医学高等专科学校 | Table tennis training robot |
| CN212491465U (en) * | 2020-07-07 | 2021-02-09 | 江璐 | Table tennis serving and combining device |
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2021
- 2021-05-24 CN CN202110563442.7A patent/CN113398550B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018113640A1 (en) * | 2016-12-19 | 2018-06-28 | 绍兴凯健科技有限公司 | Table tennis training robot |
| CN111420379A (en) * | 2020-05-18 | 2020-07-17 | 西安欧亚学院 | Table tennis training device |
| CN212491465U (en) * | 2020-07-07 | 2021-02-09 | 江璐 | Table tennis serving and combining device |
| CN112090049A (en) * | 2020-09-23 | 2020-12-18 | 河南医学高等专科学校 | Table tennis training robot |
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