CN201441801U - Ball serving mechanism that can serve balls successively for mechanical arm - Google Patents
Ball serving mechanism that can serve balls successively for mechanical arm Download PDFInfo
- Publication number
- CN201441801U CN201441801U CN2009200152761U CN200920015276U CN201441801U CN 201441801 U CN201441801 U CN 201441801U CN 2009200152761 U CN2009200152761 U CN 2009200152761U CN 200920015276 U CN200920015276 U CN 200920015276U CN 201441801 U CN201441801 U CN 201441801U
- Authority
- CN
- China
- Prior art keywords
- slide block
- lock chamber
- baffle plate
- pipeline
- ball
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Abstract
The utility model discloses a ball serving mechanism that can serve balls successively for a mechanical arm, pertaining to the technical field of robots. The ball serving mechanism comprises a motor seat, and a ball transmitting pipe, a jettison device and a retaining device which are fixed on the motor seat, wherein the ball transmitting pipe is connected with a ball serving pipe of the jettison device, and a retaining rod of the retaining device stretches into the ball serving pipe of the jettison device. The ball serving mechanism is formed by mutual cooperation and connection of the ball serving mechanism, the jettison device and the retaining device which are fixed on the motor seat, and the ball serving mechanism has simple and compact structure, is easy to be installed, does not occupy more space, and can achieve work purpose by the simple structure. The jettison device regulates the elastic force of a spring by installing a slide block regulating bolt, thus causing the ejection force for serving balls to be adjustable; the retaining rod of the retaining device is arranged in a ball groove arranged in the ball transmitting pipe, thereby well fixing a ping-pong; and a motor drives a bulge to drive a slide block retaining plate so as to drive the slide block to move and the ping-pong is triggered under the effect of the elastic force of the spring on the slide block, thereby having good ball serving effect and being reliable and practical.
Description
Technical field
The invention belongs to the Robotics field, particularly relate to a kind of serving mechanism of continuing to serve that is used for mechanical arm.
Background technology
The table tennis ball serving technology now comes into operation, and the table tenning ball servicing machine of selling on the market is a lot.Can be divided into two classes from going out on the ball mode: a class is a single wheel drive, and another kind of is that two-wheel drives.It is to finish service by a friction pulley that single opinion drives, and friction pulley is positioned at a side of table tennis, and by motor direct-drive, the shortcoming of this type of drive is that table tennis is subjected to force unbalance, and the service circuit is inaccurate.Extensive use now be that two-wheel drives, it is to finish service by two friction pulleys that two-wheel drives, friction pulley is positioned at the table tennis both sides, by motor direct-drive, this type of drive can send out the upper and lower, left and right spiral any, and on the various sides, mix spiral under the side, the speed rotation is adjustable respectively, but also knuckle service simultaneously.But no matter being which kind of type of drive, all is that service is finished in the friction of roller, so the dynamics of generally serving a ball is all bigger, and volume, quality are also very big.Because the design's catapult-launching gear is mounted on the mechanical arm, so volume, quality requirement are little; Finishing of task is closely to serve a ball, and the dynamics of requirement is little, so redesigned the serving mechanism that can satisfy above-mentioned requirements.
Summary of the invention
At the technical problem of above-mentioned existence, the invention provides a kind of serving mechanism of continuing to serve that is used for mechanical arm.It is simple in structure, volume is little, in light weight, satisfy the load that mechanical arm can bear, the requirement for restriction of space size.
The present invention is achieved through the following technical solutions:
The present invention includes motor cabinet and the pipeline of losing, catapult-launching gear, retention device fixed thereon, the pipeline of losing is connected with the service pipeline of catapult-launching gear, and the countercheck rod of retention device stretches in the service pipeline of catapult-launching gear.
Described catapult-launching gear comprises the service pipeline, slide block, the slide block lock chamber, slide block lock chamber baffle plate, sliding block spring and driving mechanism, be provided with the ball groove in the service pipeline, the slide block lock chamber is positioned at service pipeline below, and be fixed on the motor cabinet, on slide block lock chamber, be provided with slide block lock chamber baffle plate near service pipeline end, slide block places in the slide block lock chamber, the slide block lock chamber is stretched out at two ends, one end places the ball bottom land end of service pipeline, the other end is provided with slide block and regulates bolt, the dead in line of the axis of slide block and service pipeline, slide block in the slide block lock chamber is provided with the slide block baffle plate, stretch out outside the slide block lock chamber sidewall termination of slide block baffle plate, have the slotted eye that matches with slide block baffle plate external part on the slide block lock chamber sidewall, be provided with sliding block spring on the slide block between slide block baffle plate and the slide block adjusting bolt, slide block baffle plate external part contacts with driving mechanism during work, and slides up and down along the slotted eye on the slide block lock chamber sidewall.
Described driving mechanism is made of motor and the projection that is fixed on the motor casing, described projection is two secter pats, is symmetrical arranged the central axis of two projections and the central axes of motor along the motor casing circumference, when motor rotated, projection contacted with slide block baffle plate external part or separates.Described slide block is an one-level step ladder circular ring rod structure, and the handing-over end face of various outer diameter places slide block baffle plate top.Described slide block lock chamber baffle plate is the annulus rod structure, and its internal radius and slide block external diameter are sliding matching structure.
Described retention device comprises countercheck rod, countercheck rod lock chamber, countercheck rod adjustment screw and stops spring, stop that spring places in the countercheck rod lock chamber, be respectively equipped with countercheck rod and countercheck rod adjustment screw between both ends of the spring and countercheck rod lock chamber stopping, described countercheck rod stretches in the ball groove in the service pipeline.
The described pipeline of losing is to be connected with the service pipeline of catapult-launching gear by connector, and is fixed on the motor cabinet by connector, and the pipeline other end of losing is connected on the mechanical arm.
Advantage of the present invention and good effect are:
1, the present invention cooperatively interacts and connects and composes by being fixed on the mechanism that loses, catapult-launching gear and retention device on the motor cabinet, and is simple in structure, compact, is easy to install, and do not take more spaces, just can reach the work purpose by simple structure.
2, catapult-launching gear of the present invention is regulated the elastic force of bolt regulating spring by slide block is installed, and makes the ejection force of service adjustable; Be equipped with the countercheck rod of retention device in the ball groove of in the pipeline of losing, establishing, table tennis is fixed well; The projection of driven by motor drives the slide block baffle plate, thereby drives slide block movement, by the elastic force effect of slide block upper spring, triggers soldier's pang ball, and it is effective, reliable and practical to serve a ball.
Description of drawings
Fig. 1 is that outward appearance of the present invention is formed front schematic view.
Fig. 2 is that outward appearance of the present invention is formed schematic rear view.
Fig. 3 is a not confined state schematic diagram of slide block of the present invention.
Fig. 4 is a projection compression slide block view of the present invention.
Fig. 5 is a projection compression slide block generalized section of the present invention.
Fig. 6 is that projection compression slide block of the present invention is to limit view.
Fig. 7 is a projection release slider view of the present invention.
Fig. 8 is a projection release slider generalized section of the present invention.
Among the figure: the 1-pipeline of losing, 2-conduit coupling, the 3-pipeline of serving a ball, 4-countercheck rod, 5-countercheck rod holder, 6-countercheck rod adjustment screw, 7-motor cabinet, 8-slide block, 9-slide block lock chamber, 10-support, 11-slide block adjustment screw, 12-slide block baffle plate, 13-projection, 14-motor, 15-countercheck rod spring, 16-sliding block spring, 17-slide block lock chamber baffle plate, the 18-table tennis, 19-ball groove, 20-groove.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
Embodiment: as shown in Figure 1 and Figure 2, the present invention includes motor cabinet 7 and lose pipeline 1, catapult-launching gear, retention device fixed thereon, the pipeline 1 of losing is connected with the service pipeline 3 of catapult-launching gear, and the countercheck rod 4 of retention device stretches in the service pipeline 3 of catapult-launching gear.
As Fig. 1, shown in Figure 5, this routine described catapult-launching gear comprises service pipeline 3, slide block 8, slide block lock chamber 9, slide block lock chamber baffle plate 17, motor 14 and is fixed on projection 13 on the motor casing, projection 13 is along symmetrically arranged two secter pats of motor casing circumference, the central axes of the central axis of two projections 13 and motor 14.Slide block lock chamber 9 is positioned at service pipeline 3 belows, and be fixed on the motor cabinet 7 by support 10, on slide block lock chamber 9, be provided with the slide block lock chamber baffle plate 17 of annulus cylindricality near service pipeline 3 ends, slide block 8 is an one-level step ladder circular ring rod structure, the handing-over end face of various outer diameter places slide block lock chamber 9 inner slide baffle plates 12 tops, the external diameter of the internal radius of slide block lock chamber baffle plate 17 and slide block 8 maximums is a sliding matching structure, and promptly the internal radius of slide block lock chamber baffle plate 17 is more than or equal to the external diameter of slide block; Slide block lock chamber 9 is stretched out at slide block 8 two ends, one end places ball groove 19 bottoms of service pipeline 3, the other end is provided with slide block and regulates bolt 11, the dead in line of the axis of slide block 8 and service pipeline 3, slide block 8 in the slide block lock chamber 9 is provided with slide block baffle plate 12, stretch out outside slide block lock chamber 9 sidewalls termination of slide block baffle plate 12, its overhang will guarantee that slide block baffle plate 12 can contact under the rotation of motor 14 with projection 13 and along with the rotation of motor 14 can in time discharge, have the slotted eye that matches with slide block baffle plate 12 external parts on slide block lock chamber 9 sidewalls, when motor 14 rotates, slide block baffle plate 12 terminations contact with projection 13 or separate, and drive slide block 8 and slide up and down along the slotted eye on slide block lock chamber 9 sidewalls, on the slide block 8 between slide block baffle plate 12 and the slide block adjusting bolt 11, be provided with sliding block spring 16.
For alleviating mechanism's weight, this example has groove 20 at slide block 8 heavy in section ends.
As shown in Figure 5, described retention device comprises countercheck rod 4, countercheck rod lock chamber 5, countercheck rod adjustment screw 6 and stops spring 15, countercheck rod lock chamber 5 is fixed on the motor cabinet 7, stop that spring 15 places in the countercheck rod lock chamber 5, stopping that 5 of spring 15 two ends and countercheck rod lock chambers are respectively equipped with countercheck rod 4 and countercheck rod adjustment screw 6, described countercheck rod 4 stretches in the ball groove 19 in the service pipeline 3.
As shown in Figure 1, the described pipeline 1 of losing is to be connected with the service pipeline 3 of catapult-launching gear by connector 2, and is fixed on the motor cabinet 7 by connector 2, and pipeline 1 other end of losing is connected on the mechanical arm.
As shown in Figure 2, the motor cabinet 7 among the present invention is a platy structure, is connected respectively with the pipeline of losing, catapult-launching gear, retention device, is weight reduction, has the hole thereon.
The course of work of the present invention:
After table tennis 18 is put into the pipeline 1 of losing, as Fig. 3, Fig. 4, shown in Figure 5, motor 14 rotates, and projection 13 drives slide block 8 and moves down, and slide block 8 is to lower compression sliding block spring 16, at this moment, table tennis 18 enters in the service pipeline 3, and countercheck rod 4 stops table tennis 18 under the pressure of countercheck rod spring 15, prevents the table tennis 18 landings bulb road 3 that sets out, table tennis 18 is in stable state, is completely fixed.
Claims (7)
1. serving mechanism of continuing to serve that is used for mechanical arm, it is characterized in that: comprise motor cabinet and the pipeline of losing, catapult-launching gear, retention device fixed thereon, the pipeline of losing is connected with the service pipeline of catapult-launching gear, and the countercheck rod of retention device stretches in the service pipeline of catapult-launching gear.
2. according to the described serving mechanism of continuing to serve that is used for mechanical arm of claim 1, it is characterized in that: described catapult-launching gear comprises the service pipeline, slide block, the slide block lock chamber, slide block lock chamber baffle plate, sliding block spring and driving mechanism, be provided with the ball groove in the service pipeline, the slide block lock chamber is positioned at service pipeline below, and be fixed on the motor cabinet, on slide block lock chamber, be provided with slide block lock chamber baffle plate near service pipeline end, slide block places in the slide block lock chamber, the slide block lock chamber is stretched out at two ends, one end places the ball bottom land end of service pipeline, the other end is provided with slide block and regulates bolt, the dead in line of the axis of slide block and service pipeline, slide block in the slide block lock chamber is provided with the slide block baffle plate, stretch out outside the slide block lock chamber sidewall termination of slide block baffle plate, have the slotted eye that matches with slide block baffle plate external part on the slide block lock chamber sidewall, on the slide block between slide block baffle plate and the slide block adjusting bolt, be provided with sliding block spring, slide block baffle plate external part contacts with driving mechanism during work, and slides up and down along the slotted eye on the slide block lock chamber sidewall.
3. according to the described serving mechanism of continuing to serve that is used for mechanical arm of claim 2, it is characterized in that: described driving mechanism is made of motor and the projection that is fixed on the motor casing, described projection is two secter pats, be symmetrical arranged along the motor casing circumference, the central axis of two projections and the central axes of motor, when motor rotated, projection contacted with slide block baffle plate external part or separates.
4. according to the described serving mechanism of continuing to serve that is used for mechanical arm of claim 2, it is characterized in that: described slide block is an one-level step ladder circular ring rod structure, and the handing-over end face of various outer diameter places slide block baffle plate top.
5. according to the described serving mechanism of continuing to serve that is used for mechanical arm of claim 2, it is characterized in that: described slide block lock chamber baffle plate is the annulus rod structure, and its internal radius and slide block external diameter are sliding matching structure.
6. according to the described serving mechanism of continuing to serve that is used for mechanical arm of claim 1, it is characterized in that: described retention device comprises countercheck rod, countercheck rod lock chamber, countercheck rod adjustment screw and stops spring, stop that spring places in the countercheck rod lock chamber, be respectively equipped with countercheck rod and countercheck rod adjustment screw between both ends of the spring and countercheck rod lock chamber stopping, described countercheck rod stretches in the ball groove in the service pipeline.
7. according to the described serving mechanism of continuing to serve that is used for mechanical arm of claim 1, it is characterized in that: the described pipeline of losing is to be connected with the service pipeline of catapult-launching gear by connector, and be fixed on the motor cabinet by connector, the pipeline other end of losing is connected on the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200152761U CN201441801U (en) | 2009-07-15 | 2009-07-15 | Ball serving mechanism that can serve balls successively for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200152761U CN201441801U (en) | 2009-07-15 | 2009-07-15 | Ball serving mechanism that can serve balls successively for mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201441801U true CN201441801U (en) | 2010-04-28 |
Family
ID=42546480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009200152761U Expired - Lifetime CN201441801U (en) | 2009-07-15 | 2009-07-15 | Ball serving mechanism that can serve balls successively for mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201441801U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102200760A (en) * | 2011-05-25 | 2011-09-28 | 中国科学院自动化研究所 | Method for acquiring ball-hitting gesture and ball-hitting speed of ping-pong robot racket |
| CN106955476A (en) * | 2017-04-03 | 2017-07-18 | 袁超 | A kind of robot table tennis ball serving device |
| CN110721454A (en) * | 2018-06-25 | 2020-01-24 | 汪小青 | Continuous ball serving device and method for batter training |
-
2009
- 2009-07-15 CN CN2009200152761U patent/CN201441801U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102200760A (en) * | 2011-05-25 | 2011-09-28 | 中国科学院自动化研究所 | Method for acquiring ball-hitting gesture and ball-hitting speed of ping-pong robot racket |
| CN106955476A (en) * | 2017-04-03 | 2017-07-18 | 袁超 | A kind of robot table tennis ball serving device |
| CN110721454A (en) * | 2018-06-25 | 2020-01-24 | 汪小青 | Continuous ball serving device and method for batter training |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201455741U (en) | Cam splitter | |
| CN201441801U (en) | Ball serving mechanism that can serve balls successively for mechanical arm | |
| CN101954179B (en) | Serving mechanism for mechanical arm | |
| AU2014399520A1 (en) | Clutch driving device for decelerating clutch | |
| CN105274784A (en) | A clutch drive device | |
| CN105734904B (en) | Speed reducing clutch for washing machine and washing machine | |
| CN105316904B (en) | A kind of arrangement of clutch and speed-reducing clutch of speed-reducing clutch | |
| CN113833819B (en) | Energy-saving stage rotation driving device | |
| CN110345348B (en) | Wireless communication equipment mounting base convenient to dismouting | |
| WO2022127366A1 (en) | Working method for multi-function ball kicking machine | |
| CN105734885B (en) | Speed reducing clutch for washing machine and washing machine | |
| CN201264203Y (en) | Quick-dismantling and quick-changing device of polishing wheel | |
| CN210355978U (en) | Shuffling and central lifting linkage device of full-automatic mahjong machine | |
| CN102913408A (en) | Bent axis type plunger hydraulic pump/motor | |
| CN207275684U (en) | A kind of new pusher | |
| US7699739B2 (en) | Sliding block type stepless autoshift speed changer | |
| CN105734901B (en) | Speed reducing clutch for washing machine and washing machine | |
| CN205745000U (en) | A kind of automatic clutch device having free travel and revolving door mechanism | |
| CN112139980B (en) | Bearing outer ring channel superfine grinder | |
| CN105200718B (en) | A kind of clutch driving unit | |
| CN210318249U (en) | Equidistant cam centrifugal bidirectional automatic clutch | |
| CN209112825U (en) | A kind of hopper butterfly valve opening structure | |
| CN202300825U (en) | Bent axis type plunger hydraulic motor | |
| CN206889630U (en) | A kind of tricycle automatic gear-box | |
| CN220498907U (en) | Single motor driven rotary clamping device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100428 Effective date of abandoning: 20090715 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20100428 Effective date of abandoning: 20090715 |