CN201070522Y - Service robot for table tennis - Google Patents
Service robot for table tennis Download PDFInfo
- Publication number
- CN201070522Y CN201070522Y CNU2007200512946U CN200720051294U CN201070522Y CN 201070522 Y CN201070522 Y CN 201070522Y CN U2007200512946 U CNU2007200512946 U CN U2007200512946U CN 200720051294 U CN200720051294 U CN 200720051294U CN 201070522 Y CN201070522 Y CN 201070522Y
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- ball
- piston
- service
- motor
- serving
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Abstract
The utility model discloses a table tennis serve machine, which includes a base, a serve mechanism, a ball storage bucket, a middle passage, a hollow supporting rod and a corresponding electrical control part. The middle passage is communicated with a hollow cavity in the supporting rod to form a ball feeding passage, and a swing mechanism and a serve mechanism the left-and-right swing of which is controlled by the swing mechanism are arranged at the top part of the hollow supporting rod. The utility model is characterized in that the ball feeding mechanism includes a ball pushing motor and transmission mechanism, a piston turnplate, a link rod, a ball pushing piston and a horizontally arranged piston cavity. One end of the link rod is eccentrically arranged on the piston turnplate, the other end of the link rod is hinged with the ball pushing piston, the ball pushing motor and transmission mechanism drives the piston turnplate to rotate, and the middle passage is formed by communicating with a horizontal straight through section and an arc section. The utility model can work reliably, can be used conveniently, takes the serve flexibly and richly; can be controlled remotely, can set different training intensity, and can meet the requirements of different-level table tennis trainees.
Description
Technical field
The utility model relates to a kind of table tenning ball servicing machine, is a kind of improvement technology of table tenning ball servicing machine specifically.
Background technology
At present, all there is the phenomenon of card ball in the table tenning ball servicing machine majority, uses extremely inconvenience.In addition, existing table tenning ball servicing machine function is simple, and the table tennis track that is sent is with low uncertainty, and drop point site is single, and the training difficulty is low, lacks interest, can't satisfy different levels, different personnel's training need.
In addition, the prior art table tenning ball servicing machine need be regulated by armstrong's patent when regulating operational factor, can not regulate by long-distance remote control, can not monitor table tennis situation and the interior working condition of machine in the utility model in real time.
Summary of the invention
Basic purpose of the present utility model is to provide a kind of service reliable, no jam, table tenning ball servicing machine easy to use.
Further purpose of the present utility model is to make that the table tennis track that is sent is changeful, and drop point is controlled, and the training difficulty is big, and is interesting good, can satisfy different levels, different personnel's training need.
Further purpose of the present utility model is to make that this table tenning ball servicing machine not only can long-distance remote control, but the table tennis situation in monitoring the utility model and the working condition in the machine also the time.
The purpose of this utility model is achieved by the following technical solution:
A kind of table tenning ball servicing machine, comprise and be provided with the support that holds cavity, be installed in the release mechanism that holds in the cavity, be arranged on the top of support and be provided with the Chu Qiudou of lower channel, the center-aisle that is connected with storage ball bucket lower channel, the hollow support bar, and corresponding electronic control section, cavity in center-aisle and the support bar is connected and forms the release passage, the serving mechanism that is provided with swing mechanism at the top of hollow support bar and swings by swing mechanism control, it is characterized in that: described release mechanism comprises push the ball motor and transmission mechanism, the piston rotating disk, connecting rod, push the ball piston and horizontally disposed plunger shaft, one end off-centre of connecting rod is installed on the piston rotating disk, the other end and the piston hinge of pushing the ball, push the ball motor and transmission mechanism driven plunger dial rotation, described center-aisle is formed by straight-through section of level and arc section connection, and the level of piston cavity and center-aisle leads directly to the section coaxial line and is oppositely arranged about storage ball bucket lower channel.
Described swing mechanism comprises stepper motor, the gear that rotates, with the rotate fixed gear of gear coupling and the rolling disc that is provided with internal cavity, fixed gear, the gear that rotates are installed in the internal cavity of rolling disc, fixed gear is solidly set on the top of described hollow support bar, stepper motor and serving mechanism are fixed on the disk cover on rolling disc top, stepper motor drives the gear that rotates and rotates and drive fixed gear, and correspondingly rolling disc and the serving mechanism that is fixed on the rolling disc rotate.
Described serving mechanism comprises rotatable service passage, be fixed on the rotatable service conduit wall and about the symmetrically arranged pair of turning wheels in center, rotatable service passway, and runner is respectively by being fixed on the motor-driven of independently serving a ball of one on the rotatable service conduit wall.
Be provided with infrared ray service monitoring device in the described rotatable service passage.
Described swing mechanism is provided with pair of brackets, serving mechanism is installed in the top of support, between two stands, be provided with the resilient channels that is communicated with the cavity in rotatable service passage and the support bar, on support, be provided with the elasticity turn-knob that goes out ball radian turn-knob and control serving mechanism swing elasticity that a control serving mechanism is vertically swung, go out the be placed in both sides of support of ball radian turn-knob and elasticity turn-knob.
Be provided with infrared ray falling sphere monitoring device in the described storage ball bucket lower channel.
Described piston rotating disk below is provided with infrared ray piston position monitoring device.
Described electronic control section comprise control a pair of service motor respectively, the Electronic Control plate and the control corresponding line of push the ball motor and transmission mechanism and stepper motor, on the hollow support bar, be provided with the canalis pericardio-peritonealis that installs and fixes control line.
Described service robot is provided with the controller that is used to control the wired and/or wireless remote control that release mechanism, swing mechanism, serving mechanism action and corresponding program, parameter regulate.
Be provided with ball-moving arm in the described storage ball bucket.
The utlity model has following advantage:
Because release mechanism adopts piston crank mechanism to carry out the action of release, promptly push the ball piston under the driving of push the ball motor and transmission mechanism, the table tennis that pushes in the ball passage is directly hit at the push the ball top of piston, make the ball table tennis deliver to serving mechanism along the release passage singly, table tennis just can be by jam in the release passage and the phenomenon of card ball occurs like this.
Because serving mechanism comprises rotatable service passage, be fixed on the rotatable service conduit wall and about the symmetrically arranged pair of turning wheels in center, rotatable service passway, runner is respectively by being fixed on the motor-driven of independently serving a ball of one on the rotatable service conduit wall, two runner high speed rotating of service driven by motor, then driving the table tennis of being sent here by the release passage emits from rotatable service mouth, can regulate two service rotating speed of motor so respectively, make two service rotating speed of motor form speed discrepancy, affact and make table tennis produce the effect of rotation on the table tennis, cooperate the different emission angles of rotatable service passway then, thereby realize different screws.
Owing to can control the rotation direction and the rotational angle of the stepper motor in the swing mechanism, so can realize the swing of serving mechanism and the controllability of pendulum angle.
Owing to be provided with infrared ray service monitoring device, infrared ray falling sphere monitoring device, infrared ray piston position monitoring device, can monitor table tennis and the interior working condition of machine in the utility model in real time.
Owing on service robot, be provided with the controller that is used to control the wired and/or wireless remote control that release mechanism, swing mechanism, serving mechanism action and corresponding program, parameter regulate, so can realize adjusting at a distance and control.
Description of drawings:
Fig. 1 is the utility model table tenning ball servicing machine structural representation;
Fig. 2 dissects structural representation for the utility model table tenning ball servicing machine.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1 and Figure 2, the utility model comprises and is provided with the support 1 that holds cavity, is installed in the release mechanism that holds in the cavity, is arranged on the top of support 1 and is provided with the storage ball bucket 2 of lower channel 42, center-aisle, the hollow support bar 4 that is connected with the lower channel 42 that stores up ball bucket 2, and corresponding electronic control section, cavity 41 in center-aisle and the support bar is connected and forms the release passage, the serving mechanism that is provided with swing mechanism at the top of hollow support bar and is swung by swing mechanism control.Release mechanism comprises push the ball motor and transmission mechanism 5, piston rotating disk 6, connecting rod 7, push the ball piston 8 and horizontally disposed plunger shaft 45, one end off-centre of connecting rod 7 is installed on the piston rotating disk 6, the other end is hinged with the piston 8 of pushing the ball, motor and the transmission mechanism 5 driven plunger rotating disks 6 of pushing the ball rotate, center-aisle is formed by straight-through section 43 of level and arc section 44 connections, and plunger shaft 45 is oppositely arranged with level straight-through section 43 coaxial lines of center-aisle and about storage ball bucket lower channel 42.Tablees tennis 22 in the storage ball bucket 2 drop under the effect of gravity in the passage between straight-through section 43 of plunger shaft 45 and the level, motor and transmission mechanism 5 drive piston rotating disk 6 by pushing the ball, piston rotating disk 6 drives the moving piston 8 of pushing the ball again and promotes table tennis 22, makes table tennis 22 deliver to serving mechanism along the release passage singly.Be provided with ball-moving arm 3 in the storage ball bucket 2.Ball-moving arm 3 realizes dialling the ball function by gear train transmission mechanism 31.
Swing mechanism comprises stepper motor 9, the gear 10 that rotates, with the fixed gear 11 of gear 10 coupling and the rolling disc 110 that is provided with internal cavity of rotating, fixed gear 11, the gear 10 that rotates are installed in the internal cavity of rolling disc 110, fixed gear 11 is solidly set on the top of hollow support bar 4, stepper motor 9 is fixed on the disk cover on rolling disc 110 tops with serving mechanism, stepper motor 9 drives the gear 10 that rotates and rotates and drive fixed gears 11, and correspondingly rolling disc 110 and the serving mechanism that is fixed on the rolling disc 110 rotate.So just, can realize the swing of serving mechanism and the adjusting of pendulum angle by the rotation direction and the rotational angle of control step motor 9.
Serving mechanism comprises rotatable service passage 12, be fixed on rotatable service passage 12 walls and about the symmetrically arranged pair of turning wheels 131,132 of rotatable service channel center, and runner is respectively by being fixed on the motor-driven of independently serving a ball of one on rotatable service passage 12 walls.On swing mechanism, be provided with pair of brackets 14, serving mechanism is installed in the top of support 14, between two stands, be provided with the resilient channels 15 that is communicated with the cavity 41 in rotatable service passage 12 and the support bar, be provided with the elasticity turn-knob 17 that goes out ball radian turn-knob 16 and control serving mechanism swing elasticity that a control serving mechanism is vertically swung on the support on 14, going out the be placed in both sides of support of ball radian turn-knob 16 and elasticity turn-knob 17.A pair of motor drives corresponding runner high speed rotating respectively, drives the table tennis of being sent here by the release passage then and emits from rotatable service passway.Make two service motors form speed discrepancy by the rotating speed of regulating two service motors 133,134, affact then on the table tennis, make table tennis produce the effect of rotation, cooperate the different emission angles of the outlet of rotatable service passage 12 to realize different screws again.Because whether the front end at rotatable service passage 12 is equipped with infrared ray service monitoring device 18, emit in rotatable service passage 12 so can monitor table tennis.
Electronic control section comprises Electronic Control plate and the control corresponding line of controlling service motor 133,134 and push the ball motor and transmission mechanism 5 and stepper motor 9 respectively, is provided with the canalis pericardio-peritonealis 19 that installs and fixes control line on hollow support bar 4.Can control motor by the parameter on the change Electronic Control plate and rotate on request, realize difference in functionality: the Electronic Control plate is just controlled their rotating speeds separately by the voltages of controlling two service motors 133,134 and push the ball motor and transmission mechanism 5; Control its rotating speed and rotation direction for control step motor 9 by the output AC signal.
In rotatable service passage 12, in the storage ball bucket lower channel 42, be equipped with infrared ray piston position monitoring device below the piston rotating disk 6.Infrared ray service monitoring device 18 can be placed on the front end of rotatable service passage 12, when table tennis emits just and can be monitored through rotatable service passage 12, be input to the Electronic Control plate by holding wire, the Electronic Control plate just can add up to serve a ball number, thereby the function that the nodule number of some is just stopped is sent in the realization setting.Infrared ray falling sphere monitoring device 20 can be placed on the top or the middle part of storage ball bucket lower channel 42, when having ball in the storage ball bucket 2, will do not come out by 20 monitorings of infrared ray falling sphere monitoring device, be input to the Electronic Control plate by holding wire, push the ball motor and transmission mechanism of Electronic Control plate control quits work, make table tennis no longer be launched out, realize not having table tennis just to stop the function of serving a ball automatically in the storage ball bucket 2.Infrared ray piston position monitoring device 21 can be placed on the side-lower of piston rotating disk 6, when push the ball motor and transmission mechanism 5 need stop, infrared ray piston position monitoring device 21 is monitored the position of the piston 8 of pushing the ball, when the piston 8 of pushing the ball during to the fixed position, just be input to the Electronic Control plate by holding wire, push the ball motor and transmission mechanism 5 of Electronic Control plate control stops operating at once, makes the piston 8 of pushing the ball stop at fixing position.On service robot, also be provided with the controller (not shown in FIG.) that is used to control the wired and/or wireless remote control that release mechanism, swing mechanism, serving mechanism action and corresponding program, parameter regulate, to realize adjusting at a distance and control, Digiplex particularly, to the control of swing mechanism, release mechanism and serving mechanism, made things convenient for user's operation widely.
Claims (10)
1. table tenning ball servicing machine, comprise and be provided with the support that holds cavity, be installed in the release mechanism that holds in the cavity, be arranged on the top of support and be provided with the Chu Qiudou of lower channel, the center-aisle that is connected with storage ball bucket lower channel, the hollow support bar, and corresponding electronic control section, cavity in center-aisle and the support bar is connected and forms the release passage, the serving mechanism that is provided with swing mechanism at the top of hollow support bar and swings by swing mechanism control, it is characterized in that: described release mechanism comprises push the ball motor and transmission mechanism, the piston rotating disk, connecting rod, the piston of pushing the ball, and horizontally disposed plunger shaft, one end off-centre of connecting rod is installed on the piston rotating disk, the other end and the piston hinge of pushing the ball, push the ball motor and transmission mechanism driven plunger dial rotation, described center-aisle is formed by straight-through section of level and arc section connection, and the level of plunger shaft and center-aisle leads directly to the section coaxial line and is oppositely arranged about storage ball bucket lower channel.
2. table tenning ball servicing machine according to claim 1, it is characterized in that: described swing mechanism comprises stepper motor, the gear that rotates, with the rotate fixed gear of gear coupling and the rolling disc that is provided with internal cavity, fixed gear, the gear that rotates are installed in the internal cavity of rolling disc, fixed gear is solidly set on the top of described hollow support bar, stepper motor and serving mechanism are fixed on the disk cover on rolling disc top, stepper motor drives the gear that rotates and rotates and drive fixed gear, and correspondingly rolling disc and the serving mechanism that is fixed on the rolling disc rotate.
3. table tenning ball servicing machine according to claim 1, it is characterized in that: described serving mechanism comprises rotatable service passage, be fixed on the rotatable service conduit wall and about the symmetrically arranged pair of turning wheels in center, rotatable service passway, and runner is respectively by being fixed on the motor-driven of independently serving a ball of one on the rotatable service conduit wall.
4. table tenning ball servicing machine according to claim 3 is characterized in that: be provided with infrared ray service monitoring device in the described rotatable service passage.
5. table tenning ball servicing machine according to claim 1, it is characterized in that: described swing mechanism is provided with pair of brackets, serving mechanism is installed in the top of support, between two stands, be provided with the resilient channels that is communicated with the cavity in rotatable service passage and the support bar, on support, be provided with the elasticity turn-knob that goes out ball radian turn-knob and control serving mechanism swing elasticity that a control serving mechanism is vertically swung, go out the be placed in both sides of support of ball radian turn-knob and elasticity turn-knob.
6. table tenning ball servicing machine according to claim 1 is characterized in that: be provided with infrared ray falling sphere monitoring device in the described storage ball bucket lower channel.
7. table tenning ball servicing machine according to claim 1 is characterized in that: described piston rotating disk below is provided with infrared ray piston position monitoring device.
8. table tenning ball servicing machine according to claim 1, it is characterized in that: described electronic control section comprise control a pair of service motor respectively, the Electronic Control plate and the control corresponding line of push the ball motor and transmission mechanism and stepper motor, on the hollow support bar, be provided with the canalis pericardio-peritonealis that installs and fixes control line.
9. according to the described table tenning ball servicing machine of each claim among the claim 1-8, it is characterized in that: described service robot is provided with the controller that is used to control the wired and/or wireless remote control that release mechanism, swing mechanism, serving mechanism action and corresponding program, parameter regulate.
10. table tenning ball servicing machine according to claim 1 is characterized in that: be provided with ball-moving arm in the described storage ball bucket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200512946U CN201070522Y (en) | 2007-05-11 | 2007-05-11 | Service robot for table tennis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200512946U CN201070522Y (en) | 2007-05-11 | 2007-05-11 | Service robot for table tennis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201070522Y true CN201070522Y (en) | 2008-06-11 |
Family
ID=39549078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200512946U Expired - Fee Related CN201070522Y (en) | 2007-05-11 | 2007-05-11 | Service robot for table tennis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201070522Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI391163B (en) * | 2010-10-15 | 2013-04-01 | Nat Univ Chung Hsing | Device and method for serving ping-pong balls by tracing the center of gravity of a human |
| CN105833507A (en) * | 2016-04-24 | 2016-08-10 | 邹燕燕 | Circulating ball serving machine for table tennis balls |
| CN106110622A (en) * | 2016-08-15 | 2016-11-16 | 广东技术师范学院 | A kind of table tennis ball serving mechanism |
| CN106178460A (en) * | 2016-08-15 | 2016-12-07 | 广东技术师范学院 | A kind of SCM Based table tennis ball serving mechanism control system |
| CN109276870A (en) * | 2018-10-09 | 2019-01-29 | 厦门理工学院 | A kind of service robot |
| CN109692460A (en) * | 2017-10-20 | 2019-04-30 | 四川农业大学 | A kind of novel and multifunctional table tenning ball servicing machine |
| CN110917603A (en) * | 2014-03-05 | 2020-03-27 | 纽吉工业公司 | Table tennis robot with improved serving head movement |
| CN113750503A (en) * | 2021-10-13 | 2021-12-07 | 九江学院 | Basketball training is with exercise device that meets ball |
-
2007
- 2007-05-11 CN CNU2007200512946U patent/CN201070522Y/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI391163B (en) * | 2010-10-15 | 2013-04-01 | Nat Univ Chung Hsing | Device and method for serving ping-pong balls by tracing the center of gravity of a human |
| CN110917603A (en) * | 2014-03-05 | 2020-03-27 | 纽吉工业公司 | Table tennis robot with improved serving head movement |
| CN110917603B (en) * | 2014-03-05 | 2021-10-29 | 纽吉工业公司 | Table tennis robot with improved serving head movement |
| CN105833507A (en) * | 2016-04-24 | 2016-08-10 | 邹燕燕 | Circulating ball serving machine for table tennis balls |
| CN106110622A (en) * | 2016-08-15 | 2016-11-16 | 广东技术师范学院 | A kind of table tennis ball serving mechanism |
| CN106178460A (en) * | 2016-08-15 | 2016-12-07 | 广东技术师范学院 | A kind of SCM Based table tennis ball serving mechanism control system |
| CN109692460A (en) * | 2017-10-20 | 2019-04-30 | 四川农业大学 | A kind of novel and multifunctional table tenning ball servicing machine |
| CN109276870A (en) * | 2018-10-09 | 2019-01-29 | 厦门理工学院 | A kind of service robot |
| CN113750503A (en) * | 2021-10-13 | 2021-12-07 | 九江学院 | Basketball training is with exercise device that meets ball |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080611 Termination date: 20100511 |