CN2053932U - Robot capable of playing table tennis - Google Patents
Robot capable of playing table tennis Download PDFInfo
- Publication number
- CN2053932U CN2053932U CN 87214545 CN87214545U CN2053932U CN 2053932 U CN2053932 U CN 2053932U CN 87214545 CN87214545 CN 87214545 CN 87214545 U CN87214545 U CN 87214545U CN 2053932 U CN2053932 U CN 2053932U
- Authority
- CN
- China
- Prior art keywords
- ball
- losing
- motor
- utility
- model
- 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
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a robot which is used in table tennis training, body building, and amusement. By utilizing a mechanical arm hanging swing head of a four-bar linkage structure and ball shooting systems, the utility model can carry out the adjustment of the rotation angle of a transmission wheel and a pitching angle; a ball conveying system adopts a multiple wing fan; the actual combat simulation is carried out by utilizing microcomputer programmed control; the utility model can simulate the balls in a far table, a middle table, a near table and near nets with various rotations, various speeds, various forces, various landing points, and quick and slow rhythm changes; the utility model has the characteristics of stable landing point and soft ball performance; the utility model can be not only used for training, but also used as a scientific research auxiliary tester.
Description
The utility model is the technological improvement that belongs to sports apparatus, is to can be used to for table tennis training and body-building, the robot that amusement is used.
Paddler's training is in the past accompanied by the coach and is played training mate, and it is heavier to accompany the hitter to bear, and intensity is big.Since the seventies, it is ripe rapidly to have the European loop drive play fast, that slow rhythm changes, and makes the traditional quick attack of China, cuts play such as attacking combination, has run into difficulty and new problem.For cultivating the elite, adapt to foreign sportsman's style play, reach the requirement of advanced techniques training, need to strengthen sentific training.
Table tenning ball servicing machine: have emitting head to be installed in double end service robot, single head service robot, two statures or three head joint control service robots of fuselage.
The robot machine of nineteen eighty-two China Physical Culture and Sports Commission scientific research institution development: two emitting heads of two mechanical arms liftings, head, yaw, bulb separation are penetrated in electromagnetic system control, with closed-loop drive and penetrate ball-joint and play adjustable electrical control circuit.In order to simulate far from the table, Zhong Tai, close-table, closely to net various rotations, speed, strength, drop point and ball fast, that slow rhythm changes, train usefulness for the paddler.
The purpose of this machine is the screw that the live simulation people pulls out or cuts out, makes the stable and accurate drop point of ball energy, has soft property, in order to capture loop drive, to receive, realize advanced techniques, the tactics combination.
Accompanying drawing 1 is that the emission ping-pong robot is always schemed
Accompanying drawing 2, accompanying drawing 2-1 are the blast systems that loses
Accompanying drawing 3, accompanying drawing 3-1 ball-dividing device
Accompanying drawing 4, accompanying drawing 4-1 penetrate ball device
Accompanying drawing 5, accompanying drawing 5-1 yaw device
Accompanying drawing 5, accompanying drawing 5-1 yaw device
Accompanying drawing 6 microcomputer control charts
Main points of the present utility model are the systems of losing, penetrate ball, shaking device is controlled by microcomputer.
The system of losing comprises blast lose mechanism, lose pipe, ball-dividing device.Blast is lost, and mechanism comprises multi-blade fan and the device of losing.The multi-blade fan structure is: see (accompanying drawing 2), motor (21) lower end shaft links to each other with multi-blade fan (12), motor (21) upper end shaft and decelerator (16) are meshing, and motor (21) rotating speed is 1250 rev/mins, and dish (19) rotating speed of losing after slowing down is 8 rev/mins.The shaft of decelerator (16) be fixed on dish (19) steel ball clutch (17) of losing that has eight arc paddles (18) and be connected, ball is pushed wind path, per minute can be carried 80 balls, losing has the height of nearly two balls between dish (19) and chassis (20), half ball exposes the ball-dropping hole of dish (19) of losing.The apparatus structure of losing is: see (accompanying drawing 2), (accompanying drawing 2-1), chassis (20) circumference that is fixed on motor (21) outer cover is equipped with the outer circular orbit (14) of opening, and it is higher than the interior circular orbit (15) that is loaded on motor (21) the method basket.Ball mouth (13) is welded in chassis (20) circle tangential direction, is straight rail (25) outside interior straight rail (24) is higher than near chassis (20) ball mouth (13).Become the roller track that table tennis is fallen by dish (19) ball-dropping hole of losing.Two trapping springs (23) are contained in the sidewall on chassis, ball mouth (13) axis both sides (20), and its front end puts in ball mouth (13) slotted eye, and ball can not be return after being pushed into ball mouth (13).Three protection springs (22) are adorned in straight rail top, edge, chassis (20), are used to prevent that ball from falling into chassis (20) and causing the card ball near ball mouth (13).
The pipe (8) of losing: see (accompanying drawing 1), bore is 44 to 48 millimeters, form by three-joint pipe, last joint cylindrical is equipped with the last snap ring of rack (6), middle joint cylindrical has welded the spacing annulus that is used for installing mechanical arm shoulder seat (7), and the following snap ring of rack (6) is equipped with in middle joint lower end, and following joint welds downward-sloping slightly ball hole (3), extend two orbit of steel wire in the tube chamber by the welding of tilting slightly in the ball hole (3), when pipe (8) the internal memory ball of losing has blast, can not flow out automatically.
Lose mechanism, the pipe (8) of losing of blast is packed in frame (1) platform, and the wind wing of blower fan is below platform, and air inlet is towards ground, and pipe (8) air port of losing aligns the platform air port.Pneumatic bridge (5) one ends of the device ball mouth of losing are connected with ball mouth (13), and the other end is pressed on the airbag (4), and airbag (4) valve communicates through frame (1) platform valve with multi-blade fan air outlet valve.Ball mouth (13) has been adorned the extension spring (2) that is used for when the bridge cable with the both sides of ball hole (3).When microcomputer provides the signal of losing, motor (21) drives the multi-blade fan (12) and the dish (19) of losing, and falls table tennis injection rolling by dish (19) ball-dropping hole of losing, and pushes ball to ball mouth (13) by arc paddle (18).Multi-blade fan (12) rotates simultaneously, and airbag (4) is heaved, and the flat pneumatic bridge (5) of holder, blast rise ball spacing with 400 millimeter in the pipe (8) of losing.
The pipe (8) of losing is gone up joint top grafting ball-dividing device, structure is: see that (accompanying drawing 3,3-1) square bend pipe (26) wall glues sponge, the baffle plate (27) that bonding sponge is adorned in its ball mouth upper end is the duckbill track, the straight trough of losing (31) the downward-sloping side of being welded on bend pipe (26) lower end that has breach, table tennis was dropped by breach automatically when the groove endosphere was full, left and right sides bulb separation props up groove (30) and becomes 60 ° and straight trough (31) triangle flat board (32) the isoplanar welding of losing, and triangle flat board (32) has been adorned the bulb separation catch (28) that is subjected to electromagnet (29) control.Electromagnet (29) is accepted the microcomputer signal by electronic switch, when signal is the work of right emitting head, is high potential, bulb separation electromagnet (29) is inhaled logical, drives catch (28) and blocks a left side tank circuit, gets out of the way a right tank circuit, table tennis rolls along the straight trough (31) of losing, and dextrad is lost.Left side emitting head work, signal step-down current potential, electromagnet (29) quits work, and ball retaining plate (28) blocks a right tank circuit, gets out of the way a left side tank circuit, and left-hand is lost.Left and right sides bulb separation prop up groove (30) to the left and right emitting head to lose be to see (accompanying drawing 1) by spring screwed pipe (10).
About penetrating ball device and being each one, structure is seen (accompanying drawing 4,4-1), suspension rod (38) is hinged with housing (35) basal part of the ear portion, and basal part of the ear portion has opened the adjustment arc-shaped slot that the emitting head angle of pitch has 55 ° of scopes.Emission wheel (41) swivel mount (37) is installed on the outer garden of housing (35) ball mouth, rotatable 90 ° of the left and right sides.It is parallel with the ball mouth axis with emission wheel swivel mount (37) vertical fixing to penetrate ball motor installing plate (33), also can use Electric Machine Control with manually adjusting the emission wheel anglec of rotation as required.Housing (35) bottom corner motor (34) drives the sheet (36) of pushing the ball, housing (35) rear portion midline position opening, and the sheet (36) of pushing the ball when pushing the ball enters opening, vertically is extreme position.The lower end connects adorns back-moving spring (39) one ends, and the signal ended of pushing the ball can retract the sheet of pushing the ball (36).The goal mouth of propping up groove (30) connection course of action by spring screwed pipe (10) and bulb separation is positioned at the inboard and vertical line inclination certain angle of housing (35).Limit ball spring (40) is housed in housing (35) cavity.Bourdon tube (10) is carried table tennis, first ball enters in housing (35) cavity, when microcomputer sends when penetrating ball (left side or right side) signal, corner motor (34) work of one side emitting head, drive is pushed the ball sheet (36) with 42 millimeters of ball propellings, being defined in by limit ball spring (40) can not outgoing ball mouth, the position that can not return again.Second table tennis of spring screwed pipe (10) input simultaneously, the sheet (36) that is subjected to pushing the ball stop and only enter hemisphere.Microcomputer is penetrated the ball signal terminating, and motor (34) quits work, and back-moving spring (39) sheet (36) of will pushing the ball resets, and second ball enters in housing (35) cavity.Penetrate the ball signal when microcomputer sends for the second time, the sheet of pushing the ball (36) advances 42 millimeters with second ball, and first ball of ejection penetrates in the middle of entering two emission wheels (41), carries out and so forth.Penetrate ball motor (42) and have counter-rotating and reversing braking function, control it by microcomputer and turn to rotating speed.Two emission wheels (41) differ to various ball-type institute negative function, and what rotating speed was high is driving wheel, and the direction of rotation and the power of ball played a decisive role, and what rotating speed was low is auxiliary wheel, plays the auxiliary adjustment effect.If require topspin service, the wheel of going up of emission wheel (41) is a driving wheel, requires backspin service, and the lower whorl of emission wheel (41) is a driving wheel, and last wheel becomes auxiliary wheel.Two emission wheels (41) turn to the change with rotating speed, and rotation, speed, strength, the drop point of ball are changed.The wheelspan of two emission wheels (41) can be regulated, and generally adopts 36 millimeters of wheelspans.Emission wheel (41) wheel face should be big with coefficient of friction, and is wear-resisting, and shore hardness is that 40 ° to 44 ° material is made.
About the yaw device each one, structure is seen (accompanying drawing 5,5-1), in order to exchange coaxial being connected of slowspeed machine (48) on balance staff (46) and the supporting plate (50) of lifting emitting head suspension rod (38), supporting plate (50) two Breake Electromagnets of both sides upside-down mounting (49), iron core hinge joint brake press plate (43) two ends, the tripping spring (44) that one one end is fixed on shell (47) is respectively adorned in pressing plate (43) outside.When not having the yaw signal, tripping spring (44) tension pressing plate (43) is pushed down the fork (45) with the coaxial rotation of balance staff (46).Microcomputer provides the yaw signal, iron core is sucted, pressing plate (43) is thrown off with fork (45), synchronous with Breake Electromagnet (49) simultaneously alternating current generator (48) drive balance staff (46) is with the angle position that the emitting head of lifting is put needs, signal terminating, outage immediately, tripping spring (44) is left behind pressing plate (43), pins balance staff (46), and emitting head rests on this position.Put 1 ° and need 10 milliseconds of times approximately, the pivot angle maximum is 45 °, emitting head can be put the arbitrary orientation angle in this scope, changes table tennis on a left side---right lateral attitude drop point.
It is by main frame and automatically controlled part that full machine forms complete work system.Main frame is: two mechanical arms (11) of seeing (accompanying drawing 1) four-bar linkage structure are installed in joint shoulder seat (7) in the pipe (8) of losing, lifting yaw and emitting head device.Armed lever is made of 6 two power bars, and front end is hinged with the lifting bracket by fore-stock, and there is locking mechanism at the place at elbow hinge.Mechanical arm (11) about 180 °, 140 ° of area of space move arbitrarily up and down, and can put in 45 centimetres on billiard table.Select when the sportsman practises on the needed locus, various ball-types, are closely netted at middle platform, close-table in the simulation far from the table.
Automatically controlled part is to comprise microsystem, and interface circuit is seen (accompanying drawing 6), according to the simulated training scheme, prepares a computer program, and is solidificated in microcomputer chip, just can penetrate the training simulation ball-type during work.
Ping-pong robot has changeable function, can simulate far from the table, Zhong Tai, close-table, closely nets various rotations, and speed, strength, drop point and ball fast, that slow rhythm changes carry out live simulation with the way of programming.For the rotation of ball, drop point is stable, and the soft simulation of ball is like the people, and the adjusting scope of application is wide, both can train use for outstanding paddler, also can use for province, the city's team, amateur sports school's training.Removing this can promote developing rapidly of the quantitative scientific research of table tennis as the scientific research subtest instrument of table tennis technology quantitative study, also can be used as one of choosing tester.And can in, old-aged training and cultural palace, shop recreation use.
Claims (5)
1, a kind of anthropomorphic dummy who is used for table tennis training and builds the body amusement launches the robot of table tennis, by frame, mechanical arm, lose pipe, microprocessor, and the system that loses on the mechanical arm, penetrate the ball system, yaw system composition is characterized in that:
1) the said system of losing comprises the blast mechanism that loses, pneumatic bridge, ball-dividing device;
2) the said ball system of penetrating comprises and carries out limit ball spring in the arc groove of angle of pitch adjustment and the housing chamber with the hinged housing basal part of the ear of suspension rod portion and by the sheet of pushing the ball of corner driven by motor back-moving spring;
Emission wheel wheel face adopts the material of 40 ° to 44 ° of shore hardnesses;
3) said yaw system is that motor is connected with the balance staff of suspension rod is coaxial, and the rotation of balance staff is to throw off with the Breake Electromagnet hinged platen of motor synchronous to push down the balance staff fork, and pressing plate is subjected to the tripping spring tractive;
4) the said bore of losing is 44 to 48 millimeters, its lower end inclination attaching ball hole, and by in the ball hole attaching extension tube chamber, the track that long-pending ball is flowed out;
5) the ball system is penetrated by the said system that loses, and the yaw system is moved by micro processor controls.
2, robot according to claim 1, it is characterized in that the blast mechanism that loses, comprise multi-blade fan, the device of losing, said multi-blade fan links to each other with motor lower end shaft, and the meshing decelerator of motor upper end shaft drives the disc spins of losing that eight arc paddles are arranged, push the ball into wind path, the rotating speed of 1250 rev/mins of dishes of losing after slowing down of motor is 8 rev/mins.
3, robot according to claim 1 and 2, it is characterized in that the outer garden track that the said device of losing comprises opening the garden week on chassis, it is higher than the interior garden track that is contained on the motor method basket, straight rail outside near the ball mouth of chassis interior straight rail is higher than becomes the table tennis roller track that is fallen by the dish ball-dropping hole of losing.
Adorn two trapping springs that two its front ends put in the ball mouth slotted eye at the sidewall on chassis, ball mouth axis both sides;
Square in orbit, chassis edge is adorned three protection springs.
4, robot according to claim 1 is characterized in that said pneumatic bridge for linking up lose pipe ball hole and chassis ball mouth course of action, and its end is on airbag, and the other end connects ball mouth, both sides dress extension spring.
5, robot according to claim 1 is characterized in that said ball-dividing device is loaded on the upper end of losing, and its left and right sides bulb separation props up groove and links to each other with straight trough, and electromagnet drives the ball retaining plate of left and right sides bulb separation.
Straight trough and coupled backing plate, the bonding damping material of baffle plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87214545 CN2053932U (en) | 1987-10-26 | 1987-10-26 | Robot capable of playing table tennis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87214545 CN2053932U (en) | 1987-10-26 | 1987-10-26 | Robot capable of playing table tennis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2053932U true CN2053932U (en) | 1990-03-07 |
Family
ID=4828841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 87214545 Expired - Lifetime CN2053932U (en) | 1987-10-26 | 1987-10-26 | Robot capable of playing table tennis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2053932U (en) |
Cited By (4)
| 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 |
| CN103389738A (en) * | 2013-06-25 | 2013-11-13 | 北京理工大学 | Method and device for table tennis robot to predict table tennis ball trajectory |
| CN104908044A (en) * | 2014-06-06 | 2015-09-16 | 苏州晓炎自动化设备有限公司 | Ball playing robot |
| CN105363185A (en) * | 2015-11-16 | 2016-03-02 | 张军 | Dummy for grappling training and arm structure thereof |
-
1987
- 1987-10-26 CN CN 87214545 patent/CN2053932U/en not_active Expired - Lifetime
Cited By (5)
| 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 |
| CN103389738A (en) * | 2013-06-25 | 2013-11-13 | 北京理工大学 | Method and device for table tennis robot to predict table tennis ball trajectory |
| CN103389738B (en) * | 2013-06-25 | 2015-12-02 | 北京理工大学 | A kind of method and apparatus for ping-pong robot prediction table tennis track |
| CN104908044A (en) * | 2014-06-06 | 2015-09-16 | 苏州晓炎自动化设备有限公司 | Ball playing robot |
| CN105363185A (en) * | 2015-11-16 | 2016-03-02 | 张军 | Dummy for grappling training and arm structure thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4352348A (en) | Soccer ball practice machine | |
| CN108043005B (en) | Volleyball serving device for sports | |
| CN110465062A (en) | A kind of sport auxiliary volleyball exerciser | |
| US4559918A (en) | Ball-throwing device with ball throwing heads and ball conveying system including Y-junction | |
| CN109173219B (en) | Training device for supplying football players with football | |
| CN109621353A (en) | A kind of shuttlecock training transmitter | |
| CA1271099A (en) | Table tennis ball service device | |
| CN108159672A (en) | A kind of automatic tennis service equipment | |
| CN106075853A (en) | A kind of badminton companion trainer device people | |
| US4854588A (en) | Table tennis ball serving device | |
| CN2053932U (en) | Robot capable of playing table tennis | |
| CN111001148B (en) | Volleyball service robot | |
| CN113018816A (en) | Table tennis rotary ball serving device | |
| CN207898917U (en) | A kind of automatic tennis service equipment | |
| CN109186924B (en) | A kind of charming appearance and behaviour particle movement wind comfort device | |
| US4917380A (en) | Table tennis ball serving device | |
| CN216777875U (en) | Basketball is automatic goes out ball machine for basketball sports training | |
| CN106512365B (en) | A kind of shuttlecock playing training automatic launcher | |
| US5009421A (en) | Table tennis ball serving device | |
| GB2142546A (en) | Soccer ball practice machine | |
| CN211963017U (en) | Ball game training equipment | |
| CN210251143U (en) | Adjustable ball discharging device | |
| CN2286059Y (en) | Service robot for balls sport training | |
| CN111282237A (en) | Football training pass device | |
| CN214679976U (en) | Shooting training machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |