CN201205441Y

CN201205441Y - Rail control mechanism in badminton training machine

Info

Publication number: CN201205441Y
Application number: CNU2008200576270U
Authority: CN
Inventors: 葛洋
Original assignee: Individual
Current assignee: Individual
Priority date: 2008-04-23
Filing date: 2008-04-23
Publication date: 2009-03-11
Anticipated expiration: 2018-04-23

Abstract

The utility model relates to a track controlling mechanism used in a badminton accompany training machine. A main radial arm is provided with a rotating central point and a first connecting point, connected with a first driving unit and driven by the first driving unit to rotate around the rotating central point; an auxiliary radial arm is provided with a second connecting point and a third connecting point; a main radial arm transmission unit has a first transmission ratio and is connected with the main radial arm; a first sport output component of the main radial arm transmission unit can be connected with the main radial arm in a rotary way and can also be connected with the auxiliary radial arm; the central axial line of the first sport output component adopts the first connecting point and the second connecting point to drive the auxiliary radial arm to rotate relatively to the main radial arm with the second connecting point as the center; a first distance is set between the first connecting point and the second connecting point; the main radial arm and the auxiliary radial arm can define an angle of pitch in the rotating process through the commonly sharing reference straight line or the straight line at the reference level of the rotating center; and the third connecting point can regulate the predetermined track for movement according to the first transmission ratio, the first distance and the angle of pitch.

Description

TRAJECTORY CONTROL mechanism in the badminton companion trainer

Technical field

The utility model relates to a kind of serving mechanism that is used for badminton companion trainer, relates in particular to the TRAJECTORY CONTROL mechanism in a kind of badminton companion trainer.

Background technology

In order to reduce coach and training mate person's hard work, people have designed multiple badminton companion trainer, replace manpower to realize service automatically with machine.A kind of service principle of badminton companion trainer is to use machinery to replace the batting of people's hand control racket, and the service principle of another kind of badminton companion trainer is to use the manipulator toss, perhaps uses the spring service.Publication number is that the Chinese utility model patent of C N1947823A discloses a kind of badminton companion trainer, and it is to order about eyeball-pushing device by pneumatic source mechanism to move back and forth and launch shuttlecock.The serving mechanism of existing badminton companion trainer can't provide stable serve speed and serving side to, stable falling sphere point more can not be provided.

The utility model content

The purpose of this utility model is to provide the mechanism of the TRAJECTORY CONTROL in a kind of badminton companion trainer, so that the predetermined motor point of the service robot in the badminton companion trainer has stable movement locus.

In order to realize described purpose, the TRAJECTORY CONTROL mechanism in the badminton companion trainer of the present utility model is characterized in, comprises first driver element, main jib, secondary spiral arm and main jib gear unit.Main jib has the rotary middle point and first tie point, and is connected with first driver element, to rotate around rotary middle point by first drive unit drives.Secondary spiral arm has second tie point and the 3rd tie point.The main jib gear unit has first gearratio, be connected with main jib and drive by main jib, comprise the first motion output element, this first motion output element is connected with main jib rotationally and also is connected with secondary spiral arm, the central axis of this first motion output element is by first tie point and second tie point, and to make secondary spiral arm be that rotate relative to main jib at the center with second tie point thereby drive secondary spiral arm.Wherein, second tie point and the 3rd tie point are at a distance of first distance, the consult straight line at main jib and the secondary spiral arm common place of energy in rotation process limits the angle of pitch with the reference levels straight line by pivot, and the 3rd tie point has the predetermined movement locus of regulating according to first gearratio, first distance and the angle of pitch.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, has such advantage: utilize the first drive unit drives main jib to rotate, main jib drives the main jib gear unit and rotates, it is that rotate relative to main jib at the center with second tie point that the secondary spiral arm that the main jib gear unit is connected with the first motion output element by its first motion output element drive makes secondary spiral arm, in this aforesaid transmission process, regulate first gearratio, the size of arbitrary one or two or three in first distance and the angle of pitch, just can obtain the different movement locus of the 3rd tie point, for example, the fixing angle of pitch, first gearratio, regulate first distance between second tie point and the 3rd tie point, the velocity attitude that then can guarantee the 3rd tie point point-blank, thereby the track of the 3rd tie point point-blank, perhaps under the situation of considering rigging error, the movement locus that can guarantee the 3rd tie point is oval arcuation.So, be appreciated that the TRAJECTORY CONTROL mechanism in the described badminton companion trainer makes the 3rd tie point have stable movement locus.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, its further characteristics are also to comprise secondary spiral arm gear unit and ball pushing rod; Secondary spiral arm gear unit has second gearratio, is arranged on the secondary spiral arm to be driven by secondary spiral arm, comprises the second motion output element, and this second motion output element is connected rotationally with the 3rd tie point; Ball pushing rod is connected with the second motion output element, is driven and is that rotate relative to secondary spiral arm at the center with the 3rd tie point by the second motion output element; Wherein, ball pushing rod has the predetermined attitude of recently regulating according to first gearratio and second transmission.Be at the 3rd tie point on the basis of predetermined movement locus, main jib gear unit and secondary spiral arm gear unit are set, so that the satisfied predetermined relation of first gearratio and second gearratio, just can make ball pushing rod have predetermined attitude, if directly place shuttlecock on the ball pushing rod, then shuttlecock the serving side to have owing to ball pushing rod predetermined attitude have predetermined serving side to, for example, if the amassing of first gearratio and second gearratio is 1 o'clock, the absolute angle speed of ball pushing rod is zero, and the predetermined serving side of shuttlecock is to the tangential direction that is exactly the predetermined movement locus of the 3rd tie point.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, its further characteristics are, described main jib gear unit is that gear transmission unit, chain drive unit or band gear unit and the correspondingly described first motion output element are gear, sprocket wheel or belt wheel, and described secondary spiral arm gear unit is that gear transmission unit, chain drive unit or band gear unit and the correspondingly described second motion output element are gear, sprocket wheel or belt wheel.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, its further characteristics are, also comprise main balancing structure, this main balancing structure is arranged on a side opposite with the main jib gear unit on the main jib.Main balancing structure can make that described TRAJECTORY CONTROL working process of mechanism is steady, thereby reduces vibration and noise.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, its further characteristics are, also comprise secondary balancing structure, this pair balancing structure is arranged on a side opposite with secondary spiral arm gear unit on the secondary spiral arm.Secondary balancing structure can make that described TRAJECTORY CONTROL working process of mechanism is steady, thereby reduces vibration and noise.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, its further characteristics are, also comprise the angle of pitch regulon in the orientation that is used to regulate consult straight line.Thereby angle of pitch regulon is regulated the orientation of consult straight line and is regulated the described angle of pitch, thereby regulates the movement locus of the 3rd tie point, with provide different serving side to.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, its further characteristics are, the main jib gear unit is a gear transmission unit, this gear transmission unit comprises master gear and main jib gear train, master gear is fixed and to be provided with described rotating shaft coaxial line and relatively turnable mode, the main jib gear train comprises a driven gear at least, and this driven gear is the described first motion output element, and this driven gear rotates around this master gear.The main jib gear unit is a gear transmission unit, and then the velocity magnitude of the 3rd tie point and velocity attitude are more stable.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, its further characteristics are, the angle of pitch regulon that also comprises the orientation that is used to regulate consult straight line, this master gear is an external gear, this angle of pitch regulon comprises the angle of pitch adjusting gear and second driver element, angle of pitch adjusting gear and master gear engagement, second driver element is connected with angle of pitch adjusting gear.This angle of pitch regulon comprises the angle of pitch adjusting gear and second driver element, angle of pitch adjusting gear and master gear engagement, this makes when needs are regulated the angle of pitch, can realize the rotation of master gear by the driving of second driver element, master gear drives main jib gear train and main jib again, the main jib gear train is driving secondary spiral arm, thereby change main jib and the secondary spiral arm consult straight line at place jointly, thereby the change angle of pitch, when not needing to regulate the angle of pitch, angle of pitch regulon is fixing master gear also, so that this driven gear rotates around this master gear.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, its further characteristics are that main balancing structure comprises shape and the symmetrical balanced structure unit of structure with main jib gear unit and secondary spiral arm.Main balancing structure comprises shape and the symmetrical balanced structure unit of structure with main jib gear unit and secondary spiral arm, make winner's balancing structure not only can be under static state to described TRAJECTORY CONTROL mechanism balancing, can also be when dynamically (work) to described TRAJECTORY CONTROL mechanism balancing.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, its further characteristics are, secondary balancing structure is the prolongation of secondary spiral arm, this prolongation of secondary spiral arm on secondary spiral arm with the opposite side of secondary spiral arm gear unit.The prolongation that secondary balancing structure is secondary spiral arm makes secondary spiral arm have the function of the function of balancing structure and the secondary spiral arm gear unit of supporting, ball pushing rod concurrently, thereby simplifies the structure of described TRAJECTORY CONTROL mechanism.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, its further characteristics are that described second driver element comprises the worm and gear transmission.The worm and gear transmission makes described angle of pitch regulon have accurate angle of pitch regulatory function.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, its further characteristics are that this master gear is an internal gear.

TRAJECTORY CONTROL mechanism in the described badminton companion trainer, its further characteristics are, described secondary spiral arm gear unit is a gear transmission unit, this gear transmission unit comprises a driving gear and a driven gear at least, this driving gear is connected with the first motion output element coaxial line and is fixedly installed on the main jib, and this driven gear is the described second motion output element.Secondary spiral arm gear unit is a gear transmission unit, and then the velocity magnitude of ball pushing rod and velocity attitude are more stable, thereby make that the speed of shuttlecock is more stable.

Aforementioned purpose of the present utility model, technical scheme and advantage be accompanying drawings and specific embodiment detailed description below.

Description of drawings

Fig. 1 is the structural representation of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of first embodiment of the present utility model.

Fig. 2 is the structural representation of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of second embodiment of the present utility model.

Fig. 3 is the structural representation of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of the 3rd embodiment of the present utility model.

Fig. 4 is the structural representation of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of the 4th embodiment of the present utility model.

Fig. 5 is the structural representation of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of the 5th embodiment of the present utility model.

Fig. 6 is the structural representation of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of the 6th embodiment of the present utility model.

Fig. 7 is the structural representation of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of the 7th embodiment of the present utility model.

Fig. 8 is the structural representation of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of the 8th embodiment of the present utility model.

Fig. 9 is the structural representation of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of the 9th embodiment of the present utility model.

Figure 10 is the schematic diagram of the motion state in a plurality of moment in period of motion of the TRAJECTORY CONTROL mechanism among Fig. 9.

Figure 11 is the schematic diagram after the angle of pitch of the TRAJECTORY CONTROL mechanism among Fig. 9 changes.

The specific embodiment

Below in conjunction with preferred embodiment the present invention is described in detail, should be noted that, in description described later, although employed term is to select from public term, but some term then is the applicant to be judged by it and selects, and the spirit that its detailed meanings should desire discloses according to the present invention is understood.

First embodiment

As shown in Figure 1, among first embodiment of the present utility model, the TRAJECTORY CONTROL mechanism in the badminton companion trainer comprises first driver element 10, main jib 11, secondary spiral arm 12 and gear transmission unit 13.

First driver element 10 can be the drive unit of output torques such as stepper motor, servomotor.

Main jib 11 mainly plays supporting gear gear unit 13, and main jib 11 has the rotary middle point 110 and first tie point 111, is used for describing the structural feature of TRAJECTORY CONTROL mechanism.Main jib 11 is connected with first driver element 10 by rotating shaft 14, and is driven and rotated around rotary middle point 110 by first driver element 10 by rotating shaft 14.

Secondary spiral arm 12 has second tie point 120 and the 3rd tie point 121, and in the present embodiment, the 3rd tie point 121 is to control as predetermined motor point, so that it has stable movement locus.Second tie point 120 and the 3rd tie point 121 are used for describing the structural feature of the TRAJECTORY CONTROL mechanism of present embodiment.

Gear transmission unit 13 comprises master gear 130, idler gear 131 and driven gear 132.Master gear 130 relative frames 15 fixedly install, and in Fig. 1, master gear 130 is directly to be fixedly installed on the frame 15.Master gear 130 can relatively rotate with rotating shaft 14 coaxial lines and with rotating shaft 14, and for example, master gear 130 is connected (as shown in Figure 9) by bearing with rotating shaft 14.Idler gear 131 connecting axles 113, axle 113 connects main jib 11 again, so that idler gear 131 is provided with rotationally with respect to main jib 11 and supported by main jib 11.Driven gear 132 fixed connection shafts 112, axle 112 passes main jib 11 again and fixedlys connected with secondary spiral arm 12, axle 112 can relatively rotate with main jib 11, and axle 112 is by first tie point 111 of main jib 11 and second tie point 120 of secondary spiral arm 12, thereby driven gear 132 is connected rotatably with main jib 11, secondary spiral arm 12 can be that center of rotation is rotated relative to main jib 11 with second tie point 120 or first tie point 111, and driven gear 132 can drive secondary spiral arm 12 and carries out such rotation.The effect of driven gear 132 is the motion output elements as gear transmission unit 13, rotates to order about secondary spiral arm 12.Idler gear 131 meshes with master gear 130, driven gear 132 respectively, makes gear transmission unit 13 have the first predetermined gearratio.

Frame 15 is only schematically demonstration in Fig. 1, and is different with practical structure, yet this does not influence explanation of the present utility model.

Second tie point 120 and the 3rd tie point 121 are at a distance of predetermined distance, and this predetermined distance can be regulated the movement locus of the 3rd tie point 121.When the TRAJECTORY CONTROL mechanical operation of present embodiment, the consult straight line L1 that main jib 11 and secondary spiral arm 12 can occupy jointly and the angle of reference levels straight line L2 limit the angle of pitch A of the TRAJECTORY CONTROL mechanism of present embodiment, and (consult straight line L1 overlaps with reference levels straight line L2 by rotary middle point 110 places in Fig. 1, angle of pitch A is zero, from Figure 11, can understand angle of pitch A at an easy rate), this angle of pitch A also can regulate the movement locus of the 3rd tie point 121.

The TRAJECTORY CONTROL mechanical operation principle of present embodiment is as follows:

Drive main jib 11 by first driver element 10 by rotating shaft 14, the idler gear 131 of main jib gear unit 13 is with the rotation of main jib 11, rotate around fixing master gear 130 on the one hand, carry out rotation on the other hand, driven gear 132 is driven jointly by main jib 11 and idler gear 131, also carry out simultaneously around the rotation of fixing master gear 130 with around the rotation of self axis, driven gear 132 drives secondary spiral arm 12 and rotates, the speed of the 3rd tie point 121 on the secondary spiral arm 12 can be considered as relative velocity synthetic of the speed of second tie point 120 and the 3rd tie point 121 relative second tie points 120 (or first tie point 111), therefore, regulate described predetermined distance, thereby can regulate described relative velocity, thereby can regulate the direction of motion (or movement locus) of the 3rd tie point 130.It is also understood that this moment, if the gearratio of main jib gear unit 13 can be regulated, then regulate the gearratio of main jib gear unit 13, also can regulate the direction of motion of the 3rd tie point 121, in the description of back, it is also understood that the direction of motion that the size of the adjusting angle of pitch also can be regulated the 3rd tie point 121.

In the present embodiment, the movement locus of the 3rd tie point 121 is configured to along consult straight line L1, and this also is a preferable movement locus in the application of reality.

Second embodiment

As shown in Figure 2, among second embodiment of the present utility model, the TRAJECTORY CONTROL mechanism in the badminton companion trainer comprises first driver element 20, main jib 21, secondary spiral arm 22 and chain drive unit 23.

First driver element 20 can be the drive unit of output torques such as stepper motor, servomotor.

Main jib 21 mainly plays supporting chain gear unit 23, main jib 21 has the rotary middle point 210 and first tie point 211, the rotary middle point 210 and first tie point 211 are not the true form on the main jib 21, and they mainly are the structural features that is used for describing TRAJECTORY CONTROL mechanism.Main jib 21 is connected with first driver element 20 by rotating shaft 24, and is driven and rotated around rotary middle point 210 by first driver element 20 by rotating shaft 24.

Secondary spiral arm 22 has second tie point 220 and the 3rd tie point 221, and in the present embodiment, the 3rd tie point 221 is to control as predetermined motor point, so that it has stable movement locus.Second tie point 220 and the 3rd tie point 221 true form on neither secondary spiral arm 22, they also mainly are the structural features that is used for describing the TRAJECTORY CONTROL mechanism of present embodiment.

Chain drive unit 23 comprises head sprocket 230 and driven sprocket 132.Head sprocket 230 relative frames 25 fixedly install, and in Fig. 2, head sprocket 230 is directly to be fixedly installed on the frame 25.Head sprocket 230 can relatively rotate with rotating shaft 24 coaxial lines and with rotating shaft 24, and for example, head sprocket 230 is connected (as shown in Figure 9) by bearing with rotating shaft 24.Driven sprocket 232 fixed connection shafts 212, axle 212 passes main jib 21 again and fixedlys connected with secondary spiral arm 22, axle 212 can relatively rotate with main jib 21, and axle 212 is by first tie point 211 of main jib 21 and second tie point 220 of secondary spiral arm 22, thereby driven gear 232 is connected rotatably with main jib 21, secondary spiral arm 22 can be that center of rotation is rotated relative to main jib 21 with second tie point 220 or first tie point 211, and driven sprocket 232 can drive secondary spiral arm 22 and carries out such rotation.Driven sprocket 232 and drive sprocket 230 are connected by chain, make chain drive unit 23 have the first predetermined gearratio.

Frame 25 is only schematically demonstration in Fig. 2, and is different with practical structure, yet this does not influence explanation of the present utility model.

Second tie point 220 and the 3rd tie point 221 are at a distance of predetermined distance, and this predetermined distance can be regulated the movement locus of the 3rd tie point 221.When the TRAJECTORY CONTROL mechanical operation of present embodiment, the consult straight line that main jib 21 and secondary spiral arm 22 can occupy jointly, the angle of consult straight line and reference levels straight line limits the angle of pitch of the TRAJECTORY CONTROL mechanism of present embodiment, and this angle of pitch also can be regulated the movement locus of the 3rd tie point 121.

Drive main jib 21 by first driver element 20 by rotating shaft 24, the driven sprocket 232 of main jib gear unit 23 is with the rotation of main jib 21, rotate around fixing head sprocket 230 on the one hand, carry out rotation on the other hand, driven sprocket 232 drives secondary spiral arm 22 and rotates, the speed of the 3rd tie point 221 on the secondary spiral arm 22 can be considered as relative velocity synthetic of the speed of second tie point 220 and the 3rd tie point 221 relative second tie points 220 (or first tie point 211), therefore, regulate the described predetermined distance of second tie point 220 and the 3rd tie point 221, thereby can regulate described relative velocity, thereby can regulate the direction of motion (or movement locus) of the 3rd tie point 230.It is also understood that this moment, if the gearratio of main jib gear unit 23 can be regulated, then regulate the gearratio of main jib gear unit 23, also can regulate the direction of motion of the 3rd tie point 221, in the description of back, it is also understood that the direction of motion that the size of the adjusting angle of pitch also can be regulated the 3rd tie point 221.

The 3rd embodiment

As shown in Figure 3, among the 3rd embodiment of the present utility model, the TRAJECTORY CONTROL mechanism in the badminton companion trainer comprises first driver element 30, main jib 31, secondary spiral arm 32 and gear transmission unit 33.

First driver element 30 can be the drive unit of output torques such as stepper motor, servomotor.

Main jib 31 mainly plays supporting gear gear unit 33, and main jib 31 has the rotary middle point 310 and first tie point 311.Main jib 31 is connected with first driver element 30 by rotating shaft 34, is driven and is rotated around rotary middle point 310 by first driver element 30 by rotating shaft 34.

Secondary spiral arm 32 has second tie point 320 and the 3rd tie point 321, and in the present embodiment, the 3rd tie point 321 is to control as predetermined motor point, so that it has stable movement locus.

Gear transmission unit 33 has the first predetermined gearratio, and gear transmission unit 33 comprises internal gear 330 and driven gear 332.Internal gear 330 relative frames 35 fixedly install.Internal gear 330 can relatively rotate with rotating shaft 34 coaxial lines and with rotating shaft 34.Driven gear 332 is connected with main jib 31 rotationally, and fixedly connected with secondary spiral arm 32, the axle 312 that connects driven gear 332, main jib 31 and secondary spiral arm 32 is that center relative to main jib 31 rotate so that the secondary spiral arm 32 of driven gear 332 drives makes secondary spiral arm 32 with second tie point 320 by first tie point 311 and second tie point 320.

Frame 35 is only schematically demonstration in Fig. 3, and is different with practical structure, yet this does not influence explanation of the present utility model.

Second tie point 320 and the 3rd tie point 321 are at a distance of first distance, and this first distance can be regulated the movement locus of the 3rd tie point 321.When the TRAJECTORY CONTROL mechanical operation of present embodiment, main jib 31 and secondary spiral arm 32 can occupy a consult straight line (not shown) jointly, the angle of this consult straight line and reference levels straight line (not shown) limits the angle of pitch of the TRAJECTORY CONTROL mechanism of present embodiment, and this angle of pitch also can be regulated the movement locus of the 3rd tie point 321.

Drive main jib 31 by first driver element 30 by rotating shaft 34, on the one hand, main jib gear unit 33 (except that internal gear 330), secondary spiral arm 32 rotates around rotary middle point 310 with main jib 31, on the other hand, the driven gear 332 of main jib gear unit 33 carries out rotation, driven gear 332 drives secondary spiral arm 32 makes secondary spiral arm 32 rotate relative to main jib 310 around second tie point 320, the speed of the 3rd tie point 321 on the secondary spiral arm 32 can be considered as relative velocity synthetic of the speed of second tie point 320 and the 3rd tie point 330 relative second tie points 320 (or first tie point 311), therefore, regulate second tie point 320 and the 3rd tie point 321 first distance apart, thereby can regulate described relative velocity, thereby can regulate the direction of motion (or movement locus) of the 3rd tie point 321.It is also understood that this moment, if the gearratio of main jib gear unit 33 can be regulated, then regulate the gearratio of main jib gear unit 33, also can regulate the direction of motion of the 3rd tie point 321, in the description of back, it is also understood that the direction of motion that the size of the adjusting angle of pitch also can be regulated the 3rd tie point 321.

The 4th embodiment

As shown in Figure 4, among the 4th embodiment of the present utility model, the TRAJECTORY CONTROL mechanism in the badminton companion trainer comprises first driver element 40, main jib 41, secondary spiral arm 42 and gear transmission unit 43.

First driver element 40 can be the drive unit of output torques such as stepper motor, servomotor.

Main jib 41 mainly plays supporting gear gear unit 43, and main jib 41 has the rotary middle point 410 and first tie point 411.Main jib 41 is connected with first driver element 40 by rotating shaft 44, is driven and is rotated around rotary middle point 410 by first driver element 40 by rotating shaft 44.

Secondary spiral arm 42 has second tie point 420 and the 3rd tie point 421, and in the present embodiment, the 3rd tie point 421 is to control as predetermined motor point, so that it has stable movement locus.

Gear transmission unit 43 has the first predetermined gearratio, and gear transmission unit 43 comprises master gear 430, idler gear 431 and driven gear 432.Master gear 430 can relatively rotate with rotating shaft 44 coaxial lines and with rotating shaft 44, and as shown in Figure 4, master gear 430 is connected with rotating shaft 44 rotationally by bearing 46.Idler gear 431 is connected rotationally with main jib 41, and meshes with driven gear 432 and master gear 430 respectively.Driven gear 432 is connected with first tie point 411 of main jib 41 rotationally, and fixedlys connected with second tie point 420 of secondary spiral arm 42, and to make secondary spiral arm 42 be that rotate relative to main jib 41 at the center with second tie point 420 to drive secondary spiral arm 42.

Frame 45 is only schematically demonstration in Fig. 2, and is different with practical structure, yet this does not influence explanation of the present utility model.

Second tie point 420 and the 3rd tie point 421 are at a distance of first distance, and this first distance can be regulated the movement locus of the 3rd tie point 421.When the TRAJECTORY CONTROL mechanical operation of present embodiment, main jib 41 and secondary spiral arm 42 can occupy a consult straight line (not shown) jointly, the angle of this consult straight line and reference levels straight line (not shown) limits the angle of pitch (can understand the angle of pitch at an easy rate from the description of Figure 11 and back) of the TRAJECTORY CONTROL mechanism of present embodiment, and this angle of pitch also can be regulated the movement locus of the 3rd tie point 421.

Drive main jib 41 by first driver element 40 by rotating shaft 44, on the one hand, main jib gear unit 43, secondary spiral arm 42 rotates around rotary middle point 410 with main jib 41, on the other hand, the idler gear 431 of main jib gear unit 43 carries out rotation and drives driven gear 432 carrying out rotation, driven gear 432 drives secondary spiral arm 42 makes secondary spiral arm 42 rotate relative to main jib 410 around second tie point 420, the speed of the 3rd tie point 421 on the secondary spiral arm 42 can be considered as relative velocity synthetic of the speed of second tie point 420 and the 3rd tie point 421 relative second tie points 420 (or first tie point 411), therefore, regulate first distance, thereby can regulate described relative velocity, thereby can regulate the direction of motion (or movement locus) of the 3rd tie point 421.It is also understood that this moment,, then regulate the gearratio of main jib gear unit 43, also can regulate the direction of motion of the 3rd tie point 421 if the gearratio of main jib gear unit 43 can be regulated.

What present embodiment was different with first embodiment is, the TRAJECTORY CONTROL mechanism of present embodiment comprises angle of pitch regulon 47, this angle of pitch regulon comprises angle of pitch adjusting gear 471, worm gear 472 and worm screw 473, angle of pitch adjusting gear 471 is connected with master gear 430 engagements and with worm gear 472, worm gear 472 and worm screw 473 are formed the worm and gear transmission, worm gear 472 and worm screw 473 drive angle of pitch adjusting gear 471 as second driver element when needs are regulated the angle of pitch, to rotate master gear 430, thereby the orientation of the described consult straight line that adjusting main jib 41 and secondary spiral arm 42 can occupy jointly, thereby reach the purpose that realizes regulating the angle of pitch.In the present embodiment, angle of pitch regulon 47 not only plays a part to do to regulate the angle of pitch, also works the master gear 430 that fixes.Be appreciated that from Fig. 4 after the variation of the adjusting angle of pitch, the orientation of described consult straight line certainly will change, thereby the predetermined path of movement of also regulating the 3rd tie point 421 changes.

The 5th embodiment

As shown in Figure 5, among the 5th embodiment of the present utility model, the TRAJECTORY CONTROL mechanism in the badminton companion trainer comprises first driver element 50, main jib 51, secondary spiral arm 52 and gear transmission unit 53.

First driver element 50 can be the drive unit of output torques such as stepper motor, servomotor.

Main jib 51 mainly plays supporting gear gear unit 53 and secondary spiral arm 52, and main jib 51 has the rotary middle point 510 and first tie point 511.Main jib 51 is connected with first driver element 50 by rotating shaft 54, is driven and is rotated around rotary middle point 510 by first driver element 50 by rotating shaft 54.

Secondary spiral arm 52 has second tie point 520 and the 3rd tie point 521, and in the present embodiment, the 3rd tie point 521 is to control as predetermined motor point, so that it has stable movement locus.

Gear transmission unit 53 has the first predetermined gearratio, and gear transmission unit 53 comprises master gear 530, idler gear 531 and driven gear 532.Master gear 530 relative frames 55 fixedly install.Master gear 530 can relatively rotate with rotating shaft 54 coaxial lines and with rotating shaft 54.Idler gear 531 is connected rotationally with main jib 51, and meshes with driven gear 532 and master gear 530 respectively.Driven gear 532 is connected with first tie point 511 of main jib 51 rotationally, and fixedlys connected with second tie point 520 of secondary spiral arm 52, and to make secondary spiral arm 52 be that rotate relative to main jib 51 at the center with second tie point 520 to drive secondary spiral arm 52.

Frame 55 is only schematically demonstration in Fig. 2, and is different with practical structure, yet this does not influence explanation of the present utility model.

Second tie point 520 and the 3rd tie point 521 are at a distance of first distance, and this first distance can be regulated the movement locus of the 3rd tie point 521.When the TRAJECTORY CONTROL mechanical operation of present embodiment, main jib 51 and secondary spiral arm 52 can occupy a consult straight line (not shown) jointly, the angle of this consult straight line and reference levels straight line (not shown) limits the angle of pitch (can understand the angle of pitch at an easy rate from the description of Figure 11 and back) of the TRAJECTORY CONTROL mechanism of present embodiment, and this angle of pitch also can be regulated the movement locus of the 3rd tie point 521.

What present embodiment was different with first embodiment is, the TRAJECTORY CONTROL mechanism of present embodiment comprises secondary spiral arm gear unit 58 and ball pushing rod 59, and at present embodiment, secondary spiral arm gear unit 58 is band gear units, and it comprises driving pulley 582 and driven pulley 581.Driving pulley 582, secondary spiral arm 52 and driven gear 532 coaxial 512 are provided with, and axle 512 is by first tie point 511 on the main jib 51 and second tie point 520 on the secondary spiral arm 52.Driving pulley 582 is fixedly installed on the main jib 51, and axle 512 can rotate relative to driving pulley 582.Ball pushing rod 59 is connected with driven pulley 581, is driven and is that rotate relative to secondary spiral arm 52 at the center with the 3rd tie point 521 by driven pulley 581.Driven pulley 581 mainly is the motion output element as secondary spiral arm gear unit 58, carries out relative motion to order about ball pushing rod 59.Ball pushing rod 59 has the predetermined attitude that second transmission according to first gearratio of main jib gear unit 53 and secondary spiral arm gear unit 58 recently obtains.

The TRAJECTORY CONTROL mechanical work principle of present embodiment is as follows:

Drive main jib 51 by first driver element 50 by rotating shaft 54, on the one hand, main jib gear unit 53, secondary spiral arm 52 rotates around rotary middle point 510 with main jib 51, on the other hand, the idler gear 531 of main jib gear unit 53 carries out rotation and drives driven gear 532 carrying out rotation, driven gear 532 drives secondary spiral arm 52 makes secondary spiral arm 52 rotate relative to main jib 510 around second tie point 520, the speed of the 3rd tie point 521 on the secondary spiral arm 52 can be considered as relative velocity synthetic of the speed of second tie point 520 and the 3rd tie point 521 relative second tie points 520 (or first tie point 511), therefore, regulate first distance, thereby can regulate described relative velocity, thereby can regulate the direction of motion (or movement locus) of the 3rd tie point 521.It is also understood that this moment,, then regulate the gearratio of main jib gear unit 53, also can regulate the direction of motion of the 3rd tie point 521 if the gearratio of main jib gear unit 53 can be regulated.Have on the basis of the predetermined direction of motion at the 3rd tie point 521, control the relation between second gearratio of first gearratio of main jib gear unit 53 and secondary spiral arm gear unit 58 again, just can realize the predetermined attitude of ball pushing rod 59, thereby be placed on serving side that the shuttlecock on the ball pushing rod 59 just can obtain to be scheduled to, and can obtain stable serve speed.

In fact, the transmission principle of secondary spiral arm gear unit 58 also can be applied on the main jib gear unit 51.That is to say that the main jib gear unit among first embodiment to the, four embodiment can replace to the band gear unit as secondary spiral arm gear unit 58.

The 6th embodiment

TRAJECTORY CONTROL mechanism in the badminton companion trainer of present embodiment is that secondary cantilever gear unit 68 is gear transmission units with respect to the difference of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of the 5th embodiment, difference with respect to the TRAJECTORY CONTROL mechanism in the badminton companion trainer of first embodiment is to have increased secondary spiral arm gear unit 68 in other words, secondary cantilever gear unit 68 have with the 5th embodiment in secondary spiral arm gear unit 58 identical functions, even ball pushing rod 69 has predetermined attitude, for example remain point-blank.Secondary spiral arm gear unit 68 comprises travelling gear 682, idler gear 683 and driven gear 681.Travelling gear 682 is fixedly installed on the main jib 61, and the axle 612 of second tie point 620 of first tie point 611 by main jib 61 and secondary spiral arm 62 can rotate relative to travelling gear 682.Idler gear 683 connecting axles 622, axle 622 auxiliary connection spiral arms 62 make the secondary relatively spiral arm 62 of idler gear 683 be provided with rotationally.Driven gear 681 connecting axles 623, axle 623 is auxiliary connection spiral arm 62 rotationally again, and fixedly connected ball pushing rod 69, and axle 623 is by the 3rd tie points 621 of secondary spiral arm 62.Idler gear 683 meshes with driven gear 681, travelling gear 682 respectively, makes secondary spiral arm transmission single 68 have second gearratio.

Drive main jib 61 by first driver element 60 by rotating shaft 64, on the one hand, main jib gear unit 63, secondary spiral arm 62 rotates around rotary middle point 610 with main jib 61, on the other hand, the idler gear 631 of main jib gear unit 63 carries out rotation and drives driven gear 632 carrying out rotation, driven gear 632 drives secondary spiral arm 62 makes secondary spiral arm 62 rotate relative to main jib 610 around second tie point 620, the speed of the 3rd tie point 621 on the secondary spiral arm 62 can be considered as relative velocity synthetic of the speed of second tie point 620 and the 3rd tie point 621 relative second tie points 620 (or first tie point 611), therefore, regulate the preset distance between second tie point 620 and the 3rd tie point 321, thereby can regulate described relative velocity, thereby can regulate the direction of motion (or movement locus) of the 3rd tie point 621.Have on the basis of the predetermined direction of motion at the 3rd tie point 621, control the relation between second gearratio of first gearratio of main jib gear unit 63 and secondary spiral arm gear unit 68 again, just can realize the predetermined attitude of ball pushing rod 69, thereby be placed on serving side that the shuttlecock on the ball pushing rod 69 just can obtain to be scheduled to, and can obtain stable serve speed.

The 7th embodiment

As shown in Figure 7, the TRAJECTORY CONTROL mechanism in the badminton companion trainer of present embodiment is that secondary spiral arm 72 has the joint of prolongation 724 with respect to the difference of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of the 5th embodiment, and main jib 71 has the joint of prolongation 717.Prolonging joint 724 and prolonging joint 717 significant feature is to be used for balancing, to reduce the vibration in the course of the work of TRAJECTORY CONTROL mechanism.

The 8th embodiment

As shown in Figure 8, the TRAJECTORY CONTROL mechanism in the badminton companion trainer of present embodiment is gear 870, gear 871 and balancing pole 872 with respect to the difference of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of the 7th embodiment.Gear 870 is symmetrical arranged with the idler gear 831 of main jib gear unit 83, and gear 870 is connected with the prolongation joint 817 of main jib 81 rotationally by axle 873.Gear 871 is symmetrical arranged with the driven gear 832 of main jib gear unit 83, and is connected rotationally with the prolongation joint 817 of main jib 81 by axle 874.The prolongation joint 817 of main jib 81 also has the 4th tie point 818, the four tie points 818 and first tie point, 811 symmetries.Balancing pole 872 is symmetrical arranged with secondary spiral arm 82, and can rotate relative to main jib 81 by axle 874.Further, comprise the balancing unit 87 of gear 870, gear 871 and balancing pole 872 and comprise that the structure of the assembly of main jib gear unit 83 and secondary spiral arm 82 is symmetrical, described structure is meant relative position relation, annexation and the mechanical matching relationship etc. of each part.

Drive main jib 81 by first driver element 80 by rotating shaft 84, on the one hand, main jib gear unit 83, secondary spiral arm 82, balancing pole 872 rotates around rotary middle point 810 with main jib 81, on the other hand, the idler gear 831 of main jib gear unit 83 carries out rotation and drives driven gear 832 carrying out rotation, driven gear 832 drives secondary spiral arm 82 makes secondary spiral arm 82 rotate relative to main jib 810 around second tie point 820, and different with previous embodiment is, the gear 870 of balancing unit 87 carries out rotation and driven gear 871 carries out rotation, and gear 871 drives balancing pole 872 makes balancing pole 872 rotate around the prolongation joint 817 of the 4th tie point 818 relative to main jib 81.

By the description of front as can be known, in motion process, balancing pole 872 will have identical acceleration with secondary spiral arm 82, gear 870 has identical acceleration with idler gear 831, gear 871 has identical acceleration with gear 832, and two parts that main jib 81 separates with rotary middle point 810 have identical acceleration, secondary spiral arm 82 also has identical acceleration with two parts that second tie point 820 separates, therefore, the TRAJECTORY CONTROL mechanism of present embodiment will have good stationary performance and low noise performance in motion process.

The 9th embodiment

The difference of the TRAJECTORY CONTROL mechanism in TRAJECTORY CONTROL mechanism in the badminton companion trainer of present embodiment and the badminton companion trainer of the 8th embodiment is the angle of pitch controlling organization that has increased among the 4th embodiment.According to description and Fig. 9 content displayed of front, be appreciated that the structure of the TRAJECTORY CONTROL mechanism in the badminton companion trainer of present embodiment, the back just no longer is described in detail.

In conjunction with Figure 10, below the TRAJECTORY CONTROL motion of mechanism process in the badminton companion trainer of present embodiment is described.

At t0 constantly, TRAJECTORY CONTROL mechanism is in original state, should notice that ball pushing rod 1019 will move L2 along the horizontal reference straight line all the time together with shuttlecock 1020 because the consult straight line L1 at secondary spiral arm 1012 and main jib 1011 common places overlaps with horizontal reference straight line L2.The user is placed on shuttlecock on the ball pushing rod 1020, starts first driver element then, and makes main jib 1011 begin to rotate.Note the reference point 1030 on the master gear, reference point 1030 is static in whole motion process.

At t1 constantly, ball pushing rod 1019 is in boost phase, and secondary spiral arm 1012 rotates with main jib 1011, and the absolute angle speed of ball pushing rod 1019 is zero, and shuttlecock 1020 remains on the ball pushing rod 1019 owing to action of inertia.

At t2 constantly, the speed of ball pushing rod 1019 reaches maximum, and will run slowly subsequently.

At t3 constantly, ball pushing rod 1019 slows down, and shuttlecock 1020 keeps maximal rate owing to action of inertia, and breaks away from ball pushing rod 1019.

At t4 constantly, ball pushing rod 1019 moves to extreme position, and removes motion will speed up back subsequently.

At t6 constantly, main jib 1011 continues to rotate counterclockwise, at this moment the position of secondary spiral arm 1012 and t2 position symmetry constantly.

At t7 constantly, main jib 1011 continues to rotate counterclockwise and slow down, at this moment the position of secondary spiral arm 1012 and t3 position symmetry constantly.

In the t8 moment, main jib 1011 is finished the rotations of 360 degree, makes TRAJECTORY CONTROL mechanism get back to its original state, and prepares to carry out second service.

From Figure 10, serve as that as can be seen, ball pushing rod 1019 moves along straight line all the time with reference to the basis with reference point 1030.In the application of reality, the movement locus of ball pushing rod 1019 may be flat camber line, and this is that mismatch error by each part causes.

In conjunction with Figure 11, this moment, TRAJECTORY CONTROL mechanism made the consult straight line L1 of coincidence and the consult straight line L2 of level be separated into angle A by its angle of pitch regulon again.And the motion process that shows from Figure 10 is appreciated that the movement locus of ball pushing rod 1019 will be on consult straight line L1.

Though the utility model discloses as above with preferred embodiment, yet it is not in order to limit the utility model, anyly be familiar with one of ordinary skill in the art, in not breaking away from spirit and scope of the present utility model, should make the variation or the replacement of all equivalences, main jib gear unit among for example described arbitrary embodiment can be gear transmission unit, chain drive unit or band gear unit, and secondary spiral arm gear unit can be gear transmission unit, chain drive unit or band gear unit.Therefore, protection domain of the present utility model is as the criterion when looking accompanying the scope that the application's claim defined.

Claims

1. the TRAJECTORY CONTROL mechanism in the badminton companion trainer is characterized in that, comprising:

First driver element;

Main jib has the rotary middle point and first tie point, and is connected with first driver element, to rotate around rotary middle point by first drive unit drives;

Secondary spiral arm has second tie point and the 3rd tie point; And

The main jib gear unit, has first gearratio, be connected with main jib and drive by main jib, comprise the first motion output element, this first motion output element is connected with main jib rotationally and also is connected with secondary spiral arm, the central axis of this first motion output element is by first tie point and second tie point, and to make secondary spiral arm be that rotate relative to main jib at the center with second tie point thereby drive secondary spiral arm;

Wherein, second tie point and the 3rd tie point are at a distance of first distance, the consult straight line at main jib and the secondary spiral arm common place of energy in rotation process limits the angle of pitch with the reference levels straight line by pivot, and the 3rd tie point has the predetermined movement locus of regulating according to first gearratio, first distance and the angle of pitch.

2. the TRAJECTORY CONTROL mechanism in the badminton companion trainer according to claim 1 is characterized in that, also comprises:

Secondary spiral arm gear unit has second gearratio, is arranged on the secondary spiral arm to be driven by secondary cantilever, comprises the second motion output element, and the second motion output element is connected rotationally with secondary spiral arm, and the central axis of the second motion output element is by the 3rd tie point; And

Ball pushing rod is connected with the second motion output element, is driven and is that rotate relative to secondary spiral arm at the center with the 3rd tie point by the second motion output element;

Wherein, ball pushing rod has the predetermined attitude of recently regulating according to first gearratio and second transmission.

3. the TRAJECTORY CONTROL mechanism in the badminton companion trainer according to claim 2, it is characterized in that, described main jib gear unit is that gear transmission unit, chain drive unit or band gear unit and the correspondingly described first motion output element are gear, sprocket wheel or belt wheel, and described secondary spiral arm gear unit is that gear transmission unit, chain drive unit or band gear unit and the correspondingly described second motion output element are gear, sprocket wheel or belt wheel.

4. the TRAJECTORY CONTROL mechanism in the badminton companion trainer according to claim 1 and 2 is characterized in that, also comprises main balancing structure, and this main balancing structure is arranged on a side opposite with the main jib gear unit on the main jib.

5. the TRAJECTORY CONTROL mechanism in the badminton companion trainer according to claim 1 and 2 is characterized in that, also comprises secondary balancing structure, and this pair balancing structure is arranged on a side opposite with secondary spiral arm gear unit on the secondary spiral arm.

6. the TRAJECTORY CONTROL mechanism in the badminton companion trainer according to claim 1 and 2 is characterized in that, also comprises the angle of pitch regulon in the orientation that is used to regulate consult straight line, and angle of pitch regulon is connected with the main jib gear unit.

7. the TRAJECTORY CONTROL mechanism in the badminton companion trainer according to claim 1, it is characterized in that, the main boom gear unit is a gear transmission unit, this gear transmission unit comprises master gear and main jib gear train, master gear is fixed and to be provided with described rotating shaft coaxial line and relatively turnable mode, the main boom gear train comprises a driven gear at least, and this driven gear is the described first motion output element, and this driven gear rotates around this master gear.

8. the TRAJECTORY CONTROL mechanism in the badminton companion trainer according to claim 7, it is characterized in that, the angle of pitch regulon that also comprises the orientation that is used to regulate consult straight line, this master gear is an external gear, this angle of pitch regulon comprises the angle of pitch adjusting gear and second driver element, angle of pitch adjusting gear and master gear engagement, second driver element is connected with angle of pitch adjusting gear.

9. the TRAJECTORY CONTROL mechanism in the badminton companion trainer according to claim 4 is characterized in that, main balancing structure comprises shape and the symmetrical balanced structure unit of structure with main jib gear unit and secondary cantilever.

10. the TRAJECTORY CONTROL mechanism in the badminton companion trainer according to claim 5 is characterized in that, secondary balancing structure is the prolongation of secondary spiral arm, this prolongation of secondary spiral arm on secondary spiral arm with the opposite side of secondary spiral arm gear unit.

11. the TRAJECTORY CONTROL mechanism in the badminton companion trainer according to claim 8 is characterized in that, described second driver element comprises the worm and gear transmission.

12. the TRAJECTORY CONTROL mechanism in the badminton companion trainer according to claim 7 is characterized in that this master gear is an internal gear.

13. the TRAJECTORY CONTROL mechanism in the badminton companion trainer according to claim 2, it is characterized in that, described secondary spiral arm gear unit is a gear transmission unit, this gear transmission unit comprises a driving gear and a driven gear at least, this driving gear is connected with the first motion output element coaxial line and is fixedly installed on the main jib, and this driven gear is the described second motion output element.