CN205412146U - Ball training mate device based on store and forward - Google Patents
Ball training mate device based on store and forward Download PDFInfo
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- CN205412146U CN205412146U CN201620155432.4U CN201620155432U CN205412146U CN 205412146 U CN205412146 U CN 205412146U CN 201620155432 U CN201620155432 U CN 201620155432U CN 205412146 U CN205412146 U CN 205412146U
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Abstract
The utility model discloses a ball training mate device based on store and forward, its characterized in that: including moving mechanism, the mechanism of receiving, reason ball mechanism, service mechanism, ball trajectory tracking mechanism, elevating system, control mechanism, at first, ball trajectory tracking mechanism detects the movement track of ball to judge the placement of ball, then control mechanism is given in the transmission, and the quick arrival of control mechanism drive moving mechanism comes near regional of placement, makes the ball can fall into the mechanism of receiving, when receiving the ball, control mechanism signals gives reason ball mechanism, and reason ball mechanism takes out a supply service mechanism with the ball of storage at every turn, and service mechanism sends this ball according to angle and the speed set for to it sends out to have realized connecing of ball. The utility model discloses can be applied to the ball game training mate of net, like table tennis, badminton, volleyball, tennis etc. Also can be applied to the ball game training mate of no net, like basketball, football etc.
Description
Technical field:
This utility model relates to sports training apparatus field, is specifically related to a kind of ball partner training device forwarded based on storage.
Background technology:
Ground two sides air exercise ball game can be divided into from the angle with or without racket have racket and without racket, have racket has table tennis, shuttlecock, tennis etc.；Vollyball, basketball and football etc. are had without racket.Can be divided into from the angle with or without net have net and without net, have net has table tennis, shuttlecock, vollyball, tennis etc.；Basketball, football etc. is had without net.
Current ball exercise apparatus is divided into two classes: (1) all kinds of service robot, such as badminton service robot, table tenning ball servicing machine, tennis serve machine etc..These service robots are typically fixed point, and the speed served a ball, angle and rotation etc. are also fixing；Complicated any be the random service realizing speed, angle and rotation.Such as patent ZL200710158676.3, shuttlecock can only be launched from fixing point, it is impossible to adjust the state launching shuttlecock according to the return of serve situation of opponent.(2) simple partner training device, such as badminton companion trainer device people, it can realize the air exercise with people.Such as patent ZL201110366272.X, racket can only be used to carry out simple operation of upwards batting, it is impossible to realize complex course of action change and ball speed changes.At most being applicable to the air exercise with abecedarian, when speed and angle improve, it cannot be caught the ball, and does not more say controlling of the circuit to shuttlecock and speed.
Current ball game rule is all based on back and forth carrying out of a ball, and existing partner training device is also based on what such rule was designed.The shortcoming of this kind of partner training device is:
(1) only one of which ball is reciprocal, high to the requirement of real-time of partner training device, such as shuttlecock is got own half from opponents' court and is landed usual about 2 seconds, and high-caliber flat taking out put down gear less than 1 second, and the speed of tennis is fast, the response time of partner training device is required higher.In this case, partner training device is capable of returning serve and has been difficult to, and substantially can not realize any control to speed, angle and rotation.
(2) if to improve the performance of this ball partner training device, the rate request for partner training device is the harshest, and the cost of system can sharply increase.
(3) ball that, quality fast for speed is big, such as tennis, football etc., to be designed the hugest of this kind of partner training device, because the momentum of these balls is very big, does not more say that return of serve is to experienced.
Utility model content:
For realize be applicable to major part ball, low price again can high level to practice ball game partner training device, the utility model proposes a kind of based on many balls storage forward ball game partner training device.
The technical scheme that this utility model is taked is as follows:
A kind of ball partner training device forwarded based on storage, it is characterised in that: include that travel mechanism, mechanism of receiving, tidying machine structure, serving mechanism, sphere path curve follow the trail of mechanism, elevating mechanism, controlling organization；
Described travel mechanism is as the basis installed, and carries the position that partner training device moves to be arbitrarily designated；
Described elevating mechanism is installed in travel mechanism, is provided with mechanism of receiving, tidying machine structure, serving mechanism on elevating mechanism；
Mechanism of receiving is for receiving the return of serve that opposite is hit, and is supplied to tidying machine structure；
After tidying machine structure is connected with mechanism of receiving, and the ball receiving mechanism of receiving arranges, according to certain sequentially feeding serving mechanism；
Serving mechanism is for receiving the ball of tidying machine structure supply, and is launched by ball according to certain speed, angle and rotation mode；
Described sphere path curve is followed the trail of mechanism and is used for detecting the movement locus of ball, and then the drop point judged；
Described controlling organization, follows the trail of mechanism, elevating mechanism, travel mechanism, tidying machine structure, serving mechanism are connected respectively with sphere path curve.
It is preferable to provide and is:
Described travel mechanism uses Universal moving platform.
Universal moving platform includes chassis, is provided with universal wheel on chassis, is all provided with driving motor on each universal wheel.
Being also equipped with detection of obstacles mechanism on chassis overhang, detection of obstacles mechanism, for detecting the barrier on mobile platform translation direction, controls to drive motor carry out jerk or turn to.
Elevating mechanism includes the guide rail being installed on travel mechanism, guide rail is vertically installed in travel mechanism, and guide rail is provided with Timing Belt, and Timing Belt is provided with slide block, Timing Belt is connected with lifting motor, and described mechanism of receiving, tidying machine structure, serving mechanism are connected with slide block.
Mechanism's employing of receiving is up big and down small in funnelform collector.
Serving mechanism includes that a propelling movement block, a pair of Wheel-type emitter and one launch direction controller.
Principle of the present utility model and having the beneficial effect that:
1, receive and serve a ball be not necessarily same ball:
The the most different of a ball are carried out from existing partner training device, the core of the ball partner training device that the utility model proposes is can to get out the ball of more than 1 on partner training device in advance, when it prepares to receive and serve a ball when, first move to receive near a little, ball is stored.Then a ready ball is sent according to controlled speed, angle and rotation, formed and the most back and forth return serve.
2, receive and serve a ball and be separately controlled:
The another one feature of the ball partner training device that the utility model proposes is received and served a ball is separately to synchronize to carry out in time, is the most also to keep consistent to greatest extent.Time interval between receiving and serving a ball is controlled, sends a ball after such as receiving ball immediately.Receive a little and penalty mark is the most also to try to close, receive a little and the distance of penalty mark shortens as far as possible.The effect of receiving so making this ball partner training device can simulate effect of receiving really to greatest extent.
The most either there is the return of serve process of racket, such as shuttlecock, or the return of serve process without racket, such as football can be carried out white silk with this device.Otherwise varied is ball-suction device and the position of the specific size of ball serving device, shape and layout and quantity, but in essence, principle is identical.This device is readily adaptable for use in the various ball training mate with or without net.
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Accompanying drawing illustrates:
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is control principle drawing of the present utility model；
Fig. 3 is stereoscopic mechanism figure of the present utility model；
Fig. 4 is the structural representation of mobile platform described in the utility model；
Fig. 5 is the structural representation of elevating mechanism described in the utility model；
Fig. 6 is the structural representation of serving mechanism described in the utility model.
Detailed description of the invention:
As shown in Fig. 1 Fig. 6, a kind of ball partner training device forwarded based on storage of the present utility model, follow the trail of mechanism 5, elevating mechanism 6, controlling organization 7 including travel mechanism 1, mechanism 2 of receiving, tidying machine structure 3, serving mechanism 4, sphere path curve；
Described travel mechanism 1 is as the basis installed, and carries the position that partner training device moves to be arbitrarily designated.Preferably, described travel mechanism 1 uses Universal moving platform.
Universal moving platform as shown in Figure 3, it can translate along any direction on level levelling ground, Universal moving platform includes chassis 11, chassis 11 is provided with universal wheel 13, each universal wheel 13 is all provided with driving motor 12, chassis overhang 11 is also equipped with detection of obstacles mechanism 16.
Power module 17 is arranged on chassis overhang 11, for providing power supply, it is of course also possible to replace power module 17 by external power supply to mobile platform 1 and other functional entities.
Detection of obstacles mechanism 16, for detecting the barrier on mobile platform 1 translation direction, controls to drive motor 12 carry out jerk or turn to.
Described elevating mechanism 6 is installed in travel mechanism 1, is provided with mechanism 2 of receiving, tidying machine structure 3, serving mechanism 4 on elevating mechanism 6；
Described elevating mechanism 6 can use screw lift structure, scissors fork elevating mechanism, Timing Belt elevating mechanism, linear guide rail type elevating mechanism etc. any one, the present embodiment uses Timing Belt elevating mechanism, as shown in Figure 4, elevating mechanism 6 includes the guide rail 62 being installed on travel mechanism 1, guide rail 62 is vertically installed in travel mechanism 1, Timing Belt 63 is installed on guide rail 62, slide block 61 is installed on Timing Belt 63, Timing Belt 63 is connected with lifting motor 64, and described mechanism 2 of receiving, tidying machine structure 3, serving mechanism 4 are connected with slide block 61.
Mechanism 2 of receiving is for receiving the ball that opposite is hit, and in order to guarantee to make ball fall into mechanism 2 of receiving accurately, mechanism 2 of receiving uses up big and down small in funnelform collector.
After tidying machine structure 3 is connected with mechanism 2 of receiving, and the ball receiving mechanism 2 of receiving arranges, according to certain sequentially feeding serving mechanism 4, it is however generally that, one ball of supply every time.
Serving mechanism 4 is for receiving the ball of tidying machine structure 3 supply, and is launched by ball according to certain speed, angle.Serving mechanism 4 includes that direction controller 43 launched by a propelling movement block 41, a pair of Wheel-type emitter 42 and.
Two wheel discs 421 of described two-wheel disc type emitter 42 are respectively adopted separate electrical motor 422 and drive, so, by two wheel discs rotating speed control, thus realize different ball speed and the control of direction of rotation.When two synchronized reverse rotations of wheel disc, then the ball sent be without rotate ball, when wheel disc a certain in two wheel discs rotating speed faster time, then on the left of the spherical zone sent or right side rotate.
Launch direction controller 43 for controlling the luffing angle of two-wheel disc type emitter 42, the rotation of the electric rotating machine 431 by being connected with two-wheel disc type emitter 42, can realize launching the adjustment of angle.
Described sphere path curve is followed the trail of mechanism 5 and is used for detecting the movement locus of ball, and then the drop point judged.Sphere path curve is followed the trail of mechanism 5 and is preferably employed Video Detection mechanism, such as high speed three-dimensional camera.
Described controlling organization 7, follows the trail of mechanism 5, elevating mechanism 2, travel mechanism 1, tidying machine structure 3, serving mechanism 4 are connected respectively with sphere path curve.
Shown in Fig. 2, the ball training mate method that this utility model forwards based on storage, comprise the following steps:
(1) receive:
First, sphere path curve is followed the trail of mechanism and the movement locus of ball, and the drop point judged detected；Being then transferred to controlling organization, controlling organization drives travel mechanism quickly to arrive optimum reception areas adjacent, makes ball to fall into and receives in mechanism；
(2) service:
While receiving ball, controlling organization is signaled to tidying machine structure, and the ball of storage is taken out one every time only supplies serving mechanism by tidying machine structure, and this ball is sent by serving mechanism according to speed, angle and the rotation mode set, it is achieved thereby that the sending and receiving of ball；From the ball of authorities of receiving, entering in tidying machine structure, ball is put in order by tidying machine structure, standby for service next time.
Core of the present utility model is to receive and service is not necessarily same ball, and such advantage has several:
1, owing to receiving and serve a ball separately, make partner training device have more abundant time, the rate request of Universal moving platform is greatly reduced, more practical.Increase a lifting platform moved up and down the most in vertical direction, in conjunction with the drop point of ball and can highly receive, thus the rate request of mobile platform is reduced further.
2, owing to receiving and serve a ball separately, in conjunction with the advantage of all kinds of ball receive (picking up ball) and ball serving devices, thus reliability can be improved, reduces cost.
3, receiving and serve a ball can be same ball, it is also possible to is different balls, which increases the motility received.By accurately controlling, make to receive and serve a ball continuous in time, receiving a little and penalty mark holding of the most also trying one's best is consistent, and combining the movement of platform, can the return of serve process of simulating human to greatest extent.
4, for the ball partner training device having racket, such as shuttlecock, avoid the racket operation of complexity, improve the motility launching ball, can be according to setting the ball firing out various speed, angle and rotation, thus more effectively exercise is provided, it might even be possible to for fighting each other under battle conditions, replace the training mate of specialty.
5, for without the ball partner training device of racket, such as football and vollyball uniform velocity is fast, quality is big ball, use this design, it is only necessary to easy buffer subsystem is set on ball-suction device, alleviates the huge momentum of these balls, it is achieved receive ball.Again owing to receiving and service is separate, service will not be affected by receiving, it is achieved thereby that return serve smoothly.Although it can not realize the fighting capability of racket partner training device, but can be used for daily workout.
6, based on method and device of the present utility model, can be applicable to the ball game training mate having net, such as table tennis, shuttlecock, vollyball, tennis etc., it is possible to be applied to the ball game training mate without net, such as basketball, football etc..
Claims (7)
1. the ball partner training device forwarded based on storage, it is characterised in that: include that travel mechanism, mechanism of receiving, tidying machine structure, serving mechanism, sphere path curve follow the trail of mechanism, elevating mechanism, controlling organization；
Described travel mechanism is as the basis installed, and carries the position that partner training device moves to be arbitrarily designated；
Described elevating mechanism is installed in travel mechanism, is provided with mechanism of receiving, tidying machine structure, serving mechanism on elevating mechanism；
Mechanism of receiving is for receiving the return of serve that opposite is hit, and is supplied to tidying machine structure；
After tidying machine structure is connected with mechanism of receiving, and the ball receiving mechanism of receiving arranges, according to certain sequentially feeding serving mechanism；
Serving mechanism is for receiving the ball of tidying machine structure supply, and is launched by ball according to certain speed, angle；
Described sphere path curve is followed the trail of mechanism and is used for detecting the movement locus of ball, and then the drop point judged；
Described controlling organization, follows the trail of mechanism, elevating mechanism, travel mechanism, tidying machine structure, serving mechanism are connected respectively with sphere path curve.
A kind of ball partner training device forwarded based on storage the most according to claim 1, it is characterised in that: described travel mechanism uses Universal moving platform.
A kind of ball partner training device forwarded based on storage the most according to claim 2, it is characterised in that: Universal moving platform includes chassis, is provided with universal wheel on chassis, is all provided with driving motor on each universal wheel.
A kind of ball partner training device forwarded based on storage the most according to claim 1; it is characterized in that: on chassis overhang, be also equipped with detection of obstacles mechanism; detection of obstacles mechanism, for detecting the barrier on mobile platform translation direction, controls to drive motor to carry out jerk or course changing control.
A kind of ball partner training device forwarded based on storage the most according to claim 1, it is characterized in that: elevating mechanism includes being installed on the guide rail of travel mechanism, guide rail is vertically installed in travel mechanism, Timing Belt is installed on guide rail, slide block is installed on Timing Belt, Timing Belt is connected with lifting motor, and described mechanism of receiving, tidying machine structure, serving mechanism are connected with slide block.
A kind of ball partner training device forwarded based on storage the most according to claim 1, it is characterised in that: mechanism of receiving uses up big and down small in funnelform collector.
A kind of ball partner training device forwarded based on storage the most according to claim 1, it is characterised in that: serving mechanism includes that a propelling movement block, a pair of Wheel-type emitter and one launch direction controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620155432.4U CN205412146U (en) | 2016-03-02 | 2016-03-02 | Ball training mate device based on store and forward |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620155432.4U CN205412146U (en) | 2016-03-02 | 2016-03-02 | Ball training mate device based on store and forward |
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| CN205412146U true CN205412146U (en) | 2016-08-03 |
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| CN201620155432.4U Active CN205412146U (en) | 2016-03-02 | 2016-03-02 | Ball training mate device based on store and forward |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105641890A (en) * | 2016-03-02 | 2016-06-08 | 绍兴凯健科技有限公司 | Ball partner training method and device based on store-and-forward |
| CN106730735A (en) * | 2017-02-13 | 2017-05-31 | 张新 | A kind of teaching drills robot with football strategy |
| CN107335204A (en) * | 2017-02-13 | 2017-11-10 | 张新 | A kind of football skill tactics training machine |
| CN107661616A (en) * | 2017-09-29 | 2018-02-06 | 蒙城县永腾微行掌智能科技有限责任公司 | A kind of tennis training device based on unmanned plane |
| CN108543296A (en) * | 2018-03-29 | 2018-09-18 | 五邑大学 | A kind of Multifunctional tricycle service robot |
| CN109481927A (en) * | 2019-01-15 | 2019-03-19 | 桂林航天工业学院 | Tennis service device and service method with sidespin function |
-
2016
- 2016-03-02 CN CN201620155432.4U patent/CN205412146U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105641890A (en) * | 2016-03-02 | 2016-06-08 | 绍兴凯健科技有限公司 | Ball partner training method and device based on store-and-forward |
| CN106730735A (en) * | 2017-02-13 | 2017-05-31 | 张新 | A kind of teaching drills robot with football strategy |
| CN107335204A (en) * | 2017-02-13 | 2017-11-10 | 张新 | A kind of football skill tactics training machine |
| CN107335204B (en) * | 2017-02-13 | 2019-01-11 | 嘉兴钛胺新材料科技有限公司 | A kind of football skill tactics training machine |
| CN107661616A (en) * | 2017-09-29 | 2018-02-06 | 蒙城县永腾微行掌智能科技有限责任公司 | A kind of tennis training device based on unmanned plane |
| CN108543296A (en) * | 2018-03-29 | 2018-09-18 | 五邑大学 | A kind of Multifunctional tricycle service robot |
| CN109481927A (en) * | 2019-01-15 | 2019-03-19 | 桂林航天工业学院 | Tennis service device and service method with sidespin function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181109 Address after: 311200 Hongxing Road, Xiaoshan economic and Technological Development Zone, Hangzhou, Zhejiang 389 Patentee after: Zhejiang Shenzhen cool robot Co., Ltd. Address before: 312000 G523 room 526, Shanyin Road, Yuecheng District, Shaoxing, Zhejiang Patentee before: SHAOXING KAIJIAN TECHNOLOGY CO., LTD. |
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| TR01 | Transfer of patent right |