CN208710972U - A kind of table tennis automatic pitching machine - Google Patents

Abstract

The utility model discloses a kind of table tennis automatic pitching machines, including ball mechanism, trigger mechanism and supporting mechanism, ball mechanism includes storage ball bucket, dial ball machine structure and conveying mechanism, conveying mechanism includes vertically losing pipeline and level is lost pipeline, pipeline of vertically losing is connected to storage ball bucket, Chu Qiutong bottom centre, which is equipped with, dials ball machine structure, the right side of vertical pipeline of losing is fixed with motor of losing, motor of losing is connected with arc plectrum, the lose middle and lower part of pipeline right end of level offers horizontal short slot for accommodating arc plectrum, trigger mechanism includes toss cylinder and friction wheel assembly, the outer surface of toss cylinder is fixed there are three support base and three support bases are uniformly distributed along the circumferencial direction of toss cylinder, friction wheel assembly is fixed on support base.The utility model uses the structure of three friction pulleys, rotation on side, backspin, upper rotation and side backspin can be realized without intervening manually, and lose in time, is not in card ball phenomenon, ball mechanism is compact-sized, and small, structure is simple.

Description

A kind of table tennis automatic pitching machine

Technical field

The utility model relates to a kind of service robots, and in particular to a kind of table tennis automatic pitching machine.

Background technique

Table tenning ball servicing machine is the complex art product that set electron, machinery and computer technology are integrated, it has automatic The multifrequency natures such as change degree height, high sensitivity, stability is reliable.Its basic functional principle is to utilize friction pulley principle, table tennis Ball can obtain certain initial velocity due to being acted on by a friction pulley, and friction pulley is under the control of a direct current generator Work.When motor drives friction pulley rotation, the ping-pong racket that can rub makes ball obtain certain kinetic energy, and table tennis is just emitted It goes out.This principle scheme was not only simple but also practical, it not only can guarantee the stability of ping-pong racket transmitting, but also can admirably control table tennis The angle and speed of pang ball transmitting, make user indiscriminately ad. as one wishes practice playing table tennis.

Service robot on the market is mostly the service robot of single friction pulley and double structure of friction wheel, the service of single structure of friction wheel Machine, due in only one friction pulley of pick out bulb road, if service robot will adjust out the speed of ball, it is necessary to spin up, high speed The friction pulley contact table tennis of rotation will certainly allow table tennis to take strong rotation when obtaining high ball speed, this allows for faster Ball more turn, this is runed counter to practical table tennis；Table tennis in actual motion, hit with racket by the attacking driving technology of forehand, The ball struck out has cracking speed, but rotation is not strong, and loop drive technology joined a large amount of rackets on the basis of attacking driving With the friction of ball, the ball speed got is slower than attacking driving, but possesses extremely strong upper rotation.On the other hand, due to only single friction pulley Structure, friction wheel from rotation direction must be consistent with output direction of ball, it means that the service robot of single structure of friction wheel is working When, a kind of rotation can only be issued, and since the ball of the service robot of single structure of friction wheel transmitting, faster ball more turn, lead to nothing Method control ball speed in the case where keeping rotation can not also change the rotation of ball in the case where keeping ball fast, reduce service The training value of machine；Later, on the basis of single-wheel structure, service robot uses double friction wheel type structures up and down, symmetrical above and below Friction pulley be fixed on the ring that a manpower can move and then be mounted on ball mouth, it is double compared to single friction wheel type structure The relative rotation of friction pulley can be while extrusion ball provides initial velocity, the friction cancelled out each other for ball, if to increase The speed of ball out, it is only necessary to while increasing the rotation of friction pulley up and down；When needing to increase the backspin of ball, just individually increase lower friction The revolving speed of wheel；When needing to increase the upper rotation of ball, just individually increase the revolving speed of upper friction pulley, in this way, service robot can be at one It in the case where friction pulley angle, gathers around there are two types of opposite rotation, if necessary to change rotation, that is, needs to occur on side under rotation or side When rotation, it is necessary to which intervention twists ring used in fixed service robot to change the direction of friction pulley manually, and this service robot is compared In single-wheel service robot, there is more outstanding performance, can preferably imitate table tennis in actual combat and attack against each other and a variety of services, U.S.-China is not Foot, this service robot change rotation every time and require to intervene manually, are just able to achieve rotation, backspin, revolve on side, side backspin.

In addition the large-scale undercounter service robot powerful in function of tradition, such as application No. is 02227171.6, utility model title are as follows: A kind of table tennis conveying mechanism of table tenning ball servicing machine, the conveying mechanism are made of large-size machine delivery wheel, are arranged on delivery wheel There is the detent for meeting table tennis sphere volume, the hole of losing of cooperation storage ball bucket bottom can be supplied by the frequency that user needs to trigger mechanism Ball, ball join end to end into trigger mechanism, and the structure of the conveying mechanism causes service robot entirety figure larger, and need more Table tennis just can be carried out work.Another most of existing service robot has the phenomenon that losing not in time, is easy to interrupt service.

In conclusion being badly in need of the novel table tennis automatic pitching machine of one kind at present to solve above-mentioned technical problem.

Summary of the invention

Technical problem to be solved in the utility model be provide in view of the above shortcomings of the prior art a kind of table tennis from Dynamic service robot, the trigger mechanism of this table tennis automatic pitching machine use the structure of three friction pulleys, can by control for The acceleration of the driving motor of friction pulley connection slows down to realize rotation on side, backspin, upper rotation and side backspin, without being situated between manually Enter, and ball mechanism is lost in time, is not in card ball phenomenon, ball mechanism is according to the frequency conveyor ball of setting to transmitter Structure, and slot milling leaks down next ball to the hole of storage ball bucket, moves in circles and multiple percussion can be realized, ball mechanism structure It is compact, it is only necessary to which that few table tenning ball servicing machine can work normally, and whole small, structure is simple.

To realize the above-mentioned technical purpose, the technical solution that the utility model is taken are as follows:

A kind of table tennis automatic pitching machine, including ball mechanism, trigger mechanism and supporting mechanism, the ball mechanism include Store up ball bucket, dial ball machine structure and conveying mechanism, the conveying mechanism include length extend in the vertical direction vertically lose pipeline and The horizontally extending level of length is lost pipeline, described vertically to lose the left side of lower end of duct and the level is lost pipe The middle and upper part connection of road right end is to combine l-shaped pipeline, the bottom of the upper end of the pipeline of vertically losing and the storage ball bucket Connection, the left side for vertically losing pipeline are fixed with bracket institution, and the Chu Qiutong bottom centre, which is equipped with, dials ball machine structure, Described group of ball machine structure is fixedly connected with the bracket institution, and the right side for vertically losing pipeline is fixed with motor of losing, institute The output shaft for stating motor of losing is connected with arc plectrum, and the lose middle and lower part of pipeline right end of the level is offered for accommodating arc The horizontal short slot and horizontal short slot of shape plectrum are located at the lower section of lower end of duct of vertically losing, the trigger mechanism include toss cylinder and Rub wheel assembly, the level lose pipeline left end and the toss cylinder right end be rotatablely connected, the appearance of the toss cylinder Face is fixed there are three support base and three support bases are uniformly distributed along the circumferencial direction of toss cylinder, the circumference side of the toss cylinder It is set upwards there are three there is a notch between notch and every two adjacent support bases, three notches are evenly distributed on described On the circumferencial direction of toss cylinder, one of them described notch is located at surface at the top of toss cylinder or positioned at toss cylinder bottom Underface is fixed with friction wheel assembly on the support base and puts in throwing at slave notch that the friction pulley that rubs in wheel assembly is vertical In ball cylinder, the supporting mechanism is connect with the vertical bracket institution lost on pipeline.

As the further improved technical solution of the utility model, the ball machine structure of dialling includes dialling ball motor and group ball Piece, the bracket institution include cross-shaped fagging, left vertical support frame and right vertical support frame, under the left end of the cross-shaped fagging Surface is connect with the top of left vertical support frame, the top of the lower surface of the right end of the cross-shaped fagging and the right vertical support frame Connection, the right end of the cross-shaped fagging is connect with the vertical upper end for losing pipeline left side and the right side of right vertical support frame Face is fixedly connected with the left side of the vertical pipeline of losing, and the middle part of the cross-shaped fagging is equipped with the first hole, the storage Qiu Tong bottom centre is equipped with the second hole, and the cross-shaped fagging is fixedly connected with storage ball bucket bottom and the first hole and the Two holes are in same vertical direction, and described group of ball motor is between left vertical support frame and right vertical support frame and described group of ball electricity The output shaft of machine is pierced by from the first hole of cross-shaped fagging, the following table of the shell of described group of ball motor and the cross-shaped fagging Face is fixedly connected, penetrate into storage ball bucket at the top of the output shaft of the described group of ball motor from the second hole of Chu Qiutong bottom centre and Be fixedly connected by first shaft coupling with ball piece is dialled, the described group of ball piece is located in storage ball bucket, the bottom of the left vertical support frame and Lose with the level outer surface of pipeline of the bottom of right vertical support frame is fixedly connected to realizing the vertical pipeline of losing The lose middle and upper part of right end of pipeline of the left side of lower end and the level is connected to, and the front-end and back-end of the cross-shaped fagging are equal It is connect with supporting mechanism.

As the further improved technical solution of the utility model, the bottom of the storage ball bucket is equipped with hole of losing, described to hang down The upper end of straight pipeline of losing is fixed with pipeline engaging lug, and the upper end of the pipeline of vertically losing passes through pipeline engaging lug and the storage The bottom of ball bucket is fixedly connected and the upper end for pipeline of vertically losing is connected to the hole of losing, the right side of the pipeline of vertically losing Face is fixed with T-type connecting plate, and the motor of losing is fixed in T-type connecting rod, and the output shaft of the motor of losing passes through second Shaft coupling is connect with the arc plectrum.

As the further improved technical solution of the utility model, the arc plectrum is S-shaped, the motor of losing Output shaft is connect by second shaft coupling with the middle part of the arc plectrum, and the motor of losing is connected with power supply.

As the further improved technical solution of the utility model, described group of ball piece is strip plectrum, described group of ball electricity The output shaft of machine is connect by first shaft coupling with the middle part of described group of ball piece, and described group of ball motor is connected with power supply.

As the further improved technical solution of the utility model, the bottom of the left vertical support frame is L-type, the level Lose be respectively arranged at the top of pipeline the upper left engaging lug being fixedly connected with left vertical support frame bottom and with right vertical support frame The waling stripe that bottom is fixedly connected, the lose bottom of pipeline of the level are provided with and connect with the symmetrical lower-left of upper left engaging lug Ear and upper left engaging lug and lower-left engaging lug are respectively positioned on the left end of horizontal pipeline of losing, and are provided at the top of the toss cylinder right end Upper right engaging lug, the bottom of the toss cylinder right end are provided with bottom right engaging lug, and the upper right engaging lug and upper left engaging lug turn Dynamic connection, the lower-left engaging lug and bottom right engaging lug are rotatablely connected.

As the further improved technical solution of the utility model, the level lose pipeline left end outer circumference surface on it is solid Symmetrical card ball link block there are two fixed, the surface of the card ball link block are provided with for increasing resistance for table tennis Card ball device, the card ball device include screw, nut and spring, and the middle part of the card ball link block is equipped with through-hole, the screw End passes through through-hole and the end of screw is fixed with nut, and the spring is set between the nut and card ball link block, institute The diameter of the outer diameter and screw head of stating spring is all larger than the diameter of the through-hole, and the diameter of the nut is greater than the spring Outer diameter.

As the further improved technical solution of the utility model, the friction wheel assembly uses red fox table tenning ball servicing machine With friction pulley, including friction pulley, driving motor and motor cabinet, the driving motor is mounted on the motor cabinet, the driving Motor is connect for driving friction wheel from rotation with the friction pulley, and the middle part of the support base is equipped with for across driving electricity The threading hole of the signal wire of machine connection, the surface of the support base is equipped with fixation hole and fixed hole position is in the threading hole surrounding, The motor cabinet is fixedly connected with the fixation hole on the support base, and the driving motor is connected with motor driver, the electricity Machine driver is used to control the revolving speed of driving motor by outer CPU.

As the further improved technical solution of the utility model, the supporting mechanism includes pedestal, inverted T shaped connecting rod, erects Bar and L-type connecting rod, the upper surface of the pedestal are fixed with 2 inverted T shaped connecting rods, and the two sides of plumbing bar are equal in the inverted T shaped connecting rod It is fixed with vertical bar, the L-type connecting rod there are 2, and one end of a L-type connecting rod is between two adjacent vertical bars and the L One end of type connecting rod is connect with two adjacent vertical bars, and it is adjacent perpendicular that one end of another L-type connecting rod is located at other two Between the bar and connection of vertical bar that one end of the L-type connecting rod is adjacent with other two, the front-end and back-end of the cross-shaped fagging are equal For L-type, the front end of the cross-shaped fagging is connect with a L-type connecting rod, and the rear end of the cross-shaped fagging and another L-type connect Bar connection, the conveying mechanism and trigger mechanism are respectively positioned on the top between 2 inverted T shaped connecting rods.

As the further improved technical solution of the utility model, the pedestal is cup dolly, the base upper surface 2 inverted T shaped connecting rods be symmetrically set.

The utility model has the following beneficial effects:

(1) trigger mechanism of the utility model uses three friction wheel assemblies, can be by controlling for connecting with friction pulley The acceleration of the driving motor connect slows down to realize rotation on side, backspin, upper rotation and side backspin, without intervention manually, operation It is convenient；

(2) the storage ball bucket of the utility model is not in service disruption so that losing in time equipped with ball machine structure is dialled；

(3) frequency rotation of the arc plectrum of the utility model under the driving for motor of losing according to setting is to convey table tennis To trigger mechanism, the arc shape of arc plectrum to leak with slot milling to the hole of losing of storage ball bucket in rotary course pang ball Next but one table tennis moves in circles and multiple percussion can be realized, ball mechanism compact overall structure, it is only necessary to few table tennis Service robot can work normally, and compared with the existing conveying mechanism being made of large-size machine delivery wheel, structure is simpler, body Type is small, so that service robot is integrally small, structure is simple.

(4) at runtime, arc plectrum has certain elasticity to the utility model, and due to inertia and gravity, table tennis can Trigger mechanism can be rolled to when arc plectrum is not stirred, influence the function of normally serving a ball.So in horizontal pipeline of losing On card ball link block be provided with card ball device, after table tennis to the Dacca position Qiu Qi, due to spring effect so that nut to ping Pang ball gives certain resistance, reduces the probability for having more ball.

(5) the toss cylinder of the utility model and level pipeline rotation of losing connects, and can change toss according to self-demand The rotation angle of cylinder is emitted.The utility model be arranged bracket institution, bracket institution simultaneously with storage ball bucket, dial ball machine structure, water It is flat to lose pipeline and supporting mechanism is fixed, keep overall structure more compact.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model.

Fig. 2 is the perspective view of the explosion of the utility model.

Fig. 3 is the perspective view behind the storage ball bucket section of the utility model.

Fig. 4 be the utility model storage ball bucket section after and the structural schematic diagram without supporting mechanism.

Fig. 5 is the motion state schematic diagram one of the arc plectrum of the utility model.

Fig. 6 is the motion state schematic diagram two of the arc plectrum of the utility model.

Fig. 7 is the motion state schematic diagram three of the arc plectrum of the utility model.

Fig. 8 is the motion state schematic diagram four of the arc plectrum of the utility model.

Fig. 9 is the motion state schematic diagram five of the arc plectrum of the utility model.

Figure 10 is the conveying mechanism of the utility model and the top view of trigger mechanism.

Figure 11 is the structural schematic diagram of the card ball device of the utility model.

Figure 12 is the structural schematic diagram of trigger mechanism of the invention.

Specific embodiment

Specific embodiment of the present utility model is further illustrated below according to Fig. 1 to Figure 12:

Referring to Fig. 1 and Fig. 2, a kind of table tennis automatic pitching machine, including ball mechanism, trigger mechanism and supporting mechanism, institute It states ball mechanism to include storage ball bucket 1, dial ball machine structure 5 and conveying mechanism, the conveying mechanism includes that length extends in the vertical direction Vertically lose pipeline 2 and the horizontally extending level of length is lost pipeline 3, a left side for 2 lower end of pipeline of vertically losing Side and the level lose 3 right end of pipeline middle and upper part connection to combine l-shaped pipeline, the pipeline 2 of vertically losing Upper end is connected to the bottom of the storage ball bucket 1, and the left side for vertically losing pipeline 2 is fixed with bracket institution 4, the storage 1 bottom centre of Qiu Tong, which is equipped with, dials ball machine structure 5, and described group of ball machine structure 5 is fixedly connected with the bracket institution 4, described vertically to lose The right side of pipeline 2 is fixed with motor 6 of losing, and the output shaft for losing motor 6 is connected with arc plectrum 7, and the level is defeated The middle and lower part of 3 right end of bulb road, which offers the horizontal short slot 8 for accommodating arc plectrum 7 and horizontal short slot 8 and is located at, vertically loses The lower section of 2 lower end of pipeline, the trigger mechanism include toss cylinder 9 and friction wheel assembly 10, and the level is lost the left end of pipeline 3 It is rotatablely connected with the right end of the toss cylinder 9, the outer surface of the toss cylinder 9 is fixed, and there are three support base 11 and three support bases 11 are uniformly distributed along the circumferencial direction of toss cylinder 9, are set on the circumferencial direction of the toss cylinder 9 there are three notch 12 and per adjacent Two support bases 11 between have a notch 12, three notches 12 are evenly distributed on the circumferencial direction of the toss cylinder 9 On, one of them described notch 12 is located at the surface at 9 top of toss cylinder or positioned at the underface of 9 bottom of toss cylinder, described Toss is put at the vertical slave notch 12 of the friction pulley being fixed in friction wheel assembly 10 and friction wheel assembly 10 on support base 11 In cylinder 9, the supporting mechanism is connect with the vertical bracket institution 4 lost on pipeline 2.The friction pulley to rub in wheel assembly 10 It is vertical with notch 12, therefore when a notch 12 is located at the surface at 9 top of toss cylinder, friction pulley also is located at the top of toss cylinder 9 The surface in portion, when a notch 12 is located at the underface of 9 bottom of toss cylinder, friction pulley also is being located at 9 bottom of toss cylinder just Lower section.

In the present embodiment, referring to fig. 2, the ball machine structure 5 of dialling includes dialling ball motor 13 and group ball piece 14, the timbering machine Structure 4 includes cross-shaped fagging 15, left vertical support frame 16 and right vertical support frame 17, the lower surface of the left end of the cross-shaped fagging 15 It is connect with the top of left vertical support frame 16, the top of the lower surface of the right end of the cross-shaped fagging 15 and the right vertical support frame 17 Portion's connection, the right end of the cross-shaped fagging 15 is connect with the vertical upper end for losing 2 left side of pipeline and right vertical support frame 17 right side is fixedly connected with the vertical left side for losing pipeline 2, and the middle part of the cross-shaped fagging 15 is equipped with first Hole 18, referring to Fig. 3,1 bottom centre of Chu Qiutong is equipped with the second hole 19, the cross-shaped fagging 15 and the storage ball bucket 1 bottom is fixedly connected and the first hole 18 and the second hole 19 are in same vertical direction, and described group of ball motor 13 is located at left hang down Between straight bracket 16 and right vertical support frame 17 and the output shaft of described group of ball motor 13 is from the first hole 18 of cross-shaped fagging 15 It is pierced by, the shell of described group of ball motor 13 is fixedly connected with the lower surface of the cross-shaped fagging 15, the described group of ball motor 13 It is penetrated into storage ball bucket 1 and by first shaft coupling 20(from the second hole 19 of 1 bottom centre of Chu Qiutong as schemed at the top of output shaft 4) it is fixedly connected with group ball piece 14, described group of ball piece 14 is located in storage ball bucket 1, and the bottom and the right side of the left vertical support frame 16 are vertical Lose with the level outer surface of pipeline 3 of the bottom of bracket 17 is fixedly connected to realize described vertical lose under pipeline 2 The lose middle and upper part of right end of pipeline 3 of the left side at end and the level is connected to, the front-end and back-end of the cross-shaped fagging 15 It is connect with supporting mechanism.

In the present embodiment, referring to Fig. 3, the bottom of the storage ball bucket 1 is equipped with hole 21 of losing, the pipeline 2 of vertically losing Upper end is fixed with pipeline engaging lug 22, and the upper end of the pipeline 2 of vertically losing passes through pipeline engaging lug 22 and the storage ball bucket 1 Bottom is fixedly connected and the upper end for pipeline 2 of vertically losing is connected to the hole 21 of losing, the right side of the pipeline 2 of vertically losing It is fixed with T-type connecting plate 23, the motor 6 of losing is fixed in T-type connecting rod 23, and the output shaft for losing motor 6 passes through Second shaft coupling is connect with the arc plectrum 7.

In the present embodiment, the arc plectrum 7 is S-shaped, the output shaft of the motor 6 of losing by second shaft coupling with The middle part of the arc plectrum 7 connects, and the motor 6 of losing is connected with power supply.

In the present embodiment, described group of ball piece 14 is strip plectrum, and the output shaft of described group of ball motor 13 passes through first Axis device 20 is connect with the middle part of described group of ball piece 14, and described group of ball motor 13 is connected with power supply.

In the present embodiment, referring to fig. 2, the bottom of the left vertical support frame 16 is L-type, and the level is lost the top of pipeline 3 Portion is respectively arranged with the upper left engaging lug 24 being fixedly connected with left 16 bottom of vertical support frame and consolidates with right 17 bottom of vertical support frame Surely the waling stripe 25 connected, the lose bottom of pipeline 3 of the level are provided with and connect with the symmetrical lower-left of upper left engaging lug 24 Ear 26 and upper left engaging lug 24 and lower-left engaging lug 26 are respectively positioned on the left end of horizontal pipeline 3 of losing, the top of 9 right end of toss cylinder Portion is provided with upper right engaging lug 27, and the bottom of 9 right end of toss cylinder is provided with bottom right engaging lug 28, the upper right engaging lug 27 It is rotatablely connected with upper left engaging lug 24, the lower-left engaging lug 26 is rotatablely connected with bottom right engaging lug 28.

In the present embodiment, the level lose 3 left end of pipeline outer circumference surface on fixed there are two symmetrical card balls Link block 29, the surface of the card ball link block 29 is provided with the card ball device 30 for increasing resistance for table tennis 40, referring to figure 11, the card ball device 30 includes screw 31, nut 32 and spring 33, and the middle part of the card ball link block 29 is equipped with through-hole, described The end of screw 31 passes through through-hole and the end of screw 31 is fixed with nut 32, and the spring 33 is set in the nut 32 and card Between ball link block 29, the diameter on 31 head of outer diameter and screw of the spring 33 is all larger than the diameter of the through-hole, the spiral shell The diameter of cap 32 is greater than the outer diameter of the spring 33.

In the present embodiment, the friction wheel assembly 10 uses red fox table tenning ball servicing machine friction pulley, including friction pulley, drive Dynamic motor and motor cabinet, the driving motor are mounted on the motor cabinet, the driving motor connect with the friction pulley from And be used to drive friction wheel from rotation, the middle part of the support base 11 is equipped with the threading of the signal wire for connecting across driving motor The surface in hole 34, the support base 11 is equipped with fixation hole 35 and fixation hole 35 is located at 34 surrounding of threading hole, the motor cabinet It is fixedly connected with the fixation hole 35 on the support base 11, the driving motor is connected with motor driver, the motor driven Device is used to control the revolving speed of driving motor by outer CPU.The specific control mode of friction wheel speed can adopt in the present embodiment It is realized with the technical solution of the control friction wheel speed in the table tenning ball servicing machine of the prior art.

In the present embodiment, referring to fig. 2, the supporting mechanism includes pedestal 36, inverted T shaped connecting rod 37, vertical bar 38 and L-type connecting rod 39, the upper surface of the pedestal 36 is fixed with 2 inverted T shaped connecting rods 37, and the two sides of plumbing bar are fixed in the inverted T shaped connecting rod 37 Have a vertical bar 38, the L-type connecting rod 39 has 2, one end of a L-type connecting rod 39 between two adjacent vertical bars 38 and One end of the L-type connecting rod 39 is connect with two adjacent vertical bars 38, and one end of another L-type connecting rod 39 is located at other two Between adjacent vertical bar 38 and vertical bar 38 that one end of the L-type connecting rod 39 is adjacent with other two connects, the cross-shaped fagging 15 front-end and back-end are L-type, and the front end of the cross-shaped fagging 15 is fixedly connected with a L-type connecting rod 39, the cross The rear end of support plate 15 is fixedly connected with another L-type connecting rod 39, the conveying mechanism and trigger mechanism be respectively positioned on 2 it is inverted T shaped Top between connecting rod 37.

In the present embodiment, the pedestal 36 is cup dolly, and the inverted T shaped connecting rod 37 of 2 of 36 upper surface of pedestal is mutually It is symmetrical arranged.

The present embodiment uses three structure of friction wheel, and each friction pulley differs 120 °, if necessary to issue rotation on side, backspin, Upper rotation, side backspin need driving motor to carry out cooperation acceleration or deceleration.It is specific as follows: referring to Figure 12, when one of notch 12 are located at the underface of 9 bottom of toss cylinder, and when other two notch 12 is located at the left and right sides of 9 middle and upper part of toss cylinder, three are rubbed It wipes wheel assembly 10 all working, be revolved on side if it is desired to realizing, then increase the friction pulley in left side or the friction pulley on right side in Figure 12 Revolving speed, so that it may issue left side topspin or right side topspin；If it is desired to realizing backspin, then increase the friction immediately below in Figure 12 The revolving speed of wheel weakens the revolving speed of the friction pulley in left side and the friction pulley on right side；If it is desired to revolving on realizing, then increase left side in Figure 12 Friction pulley and right side friction pulley revolving speed, weaken immediately below friction pulley revolving speed, at this time left side friction pulley and right side Friction pulley revolving speed be faster than immediately below friction pulley revolving speed, the side friction of two friction pulley of left and right of top cancels out each other, Make to show that ball will not have obvious side direction friction；If it is desired to realizing side backspin, it is increased by the revolving speed and just of the friction pulley in left side The revolving speed of the friction pulley of lower section can issue left side underspin, or increase the revolving speed of the friction pulley on right side and the friction pulley of underface Revolving speed can issue right side underspin.It can similarly obtain, when one of notch 12 is located at the surface at the top of toss cylinder 9, remaining When two notches 12 are located at the left and right sides of 9 middle and lower part of toss cylinder, i.e., Figure 12 is rotated into 180 degree to observe, at this time if it is desired in fact Existing side backspin then increases the revolving speed of the revolving speed of the friction pulley in left side or the friction pulley on right side, so that it may issue left side underspin or Person's right side underspin；If it is desired to revolved on realizing, then increase right above friction pulley revolving speed, weaken friction pulley and the right side in left side The revolving speed of friction pulley；If it is desired to realizing backspin, then increase the revolving speed of the friction pulley in left side and the friction pulley on right side, weakens surface Friction pulley revolving speed；It is revolved on side if it is desired to realizing, is increased by turn of the revolving speed of the friction pulley in left side and the friction pulley of surface Speed, which can issue the revolving speed of the friction pulley on the right side of left side topspin, or increase and the revolving speed of the friction pulley of surface, can issue the right side It is revolved on side.In conclusion corresponding friction wheel speed is accelerated beyond others, corresponding rotation can be issued.Three friction pulleys The placement schemes of structure are that the rotation for common service rotation and when attacking against each other is designed, and sportsman is by using table tennis 40 clap the lower sections of friction balls, upper side, upper side issue ball, generally are as follows: on backspin, side, the backspin of side, one when table tennis 40 is attacked against each other As be top spin, generally speaking seldom will appear simple side rotation.Three structure of friction wheel structures are simple, at low cost, more stick on The characteristics of rotation of table tennis 40 in nearly reality table tennis.

In order to allow service robot to possess the function close to table following formula service robot in the case where keeping the volume of Portable pitching machine The characteristics of energy, the present embodiment is combined on table with table following formula service robot, will store up ball machine structure (storage ball bucket 1) and conveying mechanism is merged into Ball mechanism, ball mechanism need to store ball and ball are leaked to conveying mechanism, and conveying mechanism is sent to ball according to certain frequency Trigger mechanism.This set mechanism can analogize to the structure of pistol, and ball mechanism is equivalent to pistol cartridge clip, and the bullet of storage is provided To bore, using being fired away after loading, once as soon as upper bullets loading percussion, cartridge clip are needed even if providing next son Bullet.The storage ball bucket 1 of the present embodiment is not in that card ball interrupts service by dialling ball machine structure 5 so that losing in time；For ball Mechanism is precisely controllable, realizes the continuous shooting of continuous table tennis.

Table tennis 40 is stored in ball bucket 1, by the leakage of hole 21 of losing of storage 1 bottom of ball bucket to conveying mechanism, dials ball electricity Machine 13, which drives, dials the rotation of ball piece 14, so that the table tennis 40 stored up in ball bucket 1 be made to occur mutually to move, makes table tennis 40 from storage ball bucket The hole 21 of losing of 1 bottom is leaked to conveying mechanism, and card ball phenomenon is prevented, wherein 21 diameter of hole of losing of storage 1 bottom of ball bucket is The plastics on new materials table tennis diameter of 50mm, D40+ are about 41mm, and 21 diameter of hole of losing is slightly larger than 40 diameter of table tennis.Storage ball bucket 1 is matched Have and dial ball machine structure 5, prevents card ball.Conveying mechanism (is vertically lost pipeline 2 and level pipeline 3 of losing is in by 90 ° of interfaces 90 °), lose motor 6 and arc plectrum 7 form.Arc plectrum 7 rotates under the driving for motor 6 of losing according to the frequency of setting To convey table tennis 40 to trigger mechanism, the dynamic process specifically conveyed is conveyer referring to Fig. 5 to Fig. 9, Fig. 5 to Fig. 9 The motion state of the table tennis 40 shown after structure and trigger mechanism section, the shape of arc plectrum 7 makes can in rotary course Hole 21 of losing with slot milling to storage ball bucket 1 is leaked down next table tennis 40 (such as Fig. 9), and moving in circles, which can be realized, repeatedly hits Hair.Since the conveying mechanism of ball mechanism is compact-sized, it is only necessary to which 4 ball service robots can work normally, with existing large size Motor wheel conveying table tennis 40 is compared, and small, structure is simple.

At runtime, arc plectrum 7 has certain elasticity to the present embodiment, and due to inertia and gravity, table tennis 40 may Trigger mechanism is rolled to when arc plectrum 7 is not stirred, influences the function of normally serving a ball.So in horizontal pipeline 3 of losing Card ball device 30 is provided on card ball link block 29, card ball link block 29 there are 2 and is symmetrically set, 2 card ball link blocks 29 It is equipped with card ball device 30, constitutes card ball device 30 with spring 33, nut 32 and screw 31, arrives Dacca ball device 30 in table tennis 40 It postpones, since the effect of spring 33 is so that nut 32 gives certain resistance to table tennis 40, reduction has more the probability of ball.Only In the case where arc plectrum 7 is stirred, arc plectrum 7 gives table tennis 40 certain thrust, and table tennis 40 squeezes nut 32, spiral shell Cap 32 squeezes spring 33, and spring 33 shrinks to move 32 Xiang Kaqiu link block 29 of nut, and table tennis 40 rolls to trigger mechanism. Friction pulley in three friction wheel assemblies 10 of trigger mechanism applies frictional force to table tennis 40, by controlling adjacent driving electricity Rotation on side, backspin, upper rotation and side backspin are realized in the acceleration or deceleration of machine.

The driving motor at the friction pulley center of the present embodiment is a direct current generator, and the direct current generator of friction pulley is in order to meet The requirement of serve speed and rotation, it is desirable that revolving speed and torque with higher, friction pulley itself need high frictional force and have Standby certain elasticity, so that table tenning ball servicing machine not card ball when continuing to serve, there is certain serious forgiveness.

In view of portability, outer CPU can control driving motor using single-chip microcontroller, and the operating voltage of single-chip microcontroller is 5V, Selecting work maximum voltage is the direct current generator of 5V or so as driving motor, can unify supply voltage in this way, or even with filling Electric treasured can power.The friction wheel assembly 10 of the present embodiment has directlyed adopt existing table tenning ball servicing machine friction pulley scheme, Selected red fox SG-D to charge friction wheel assembly that portable service robot uses, operating voltage 1.5V-4.5V, friction pulley overall diameter For 52mm, friction pulley is by 2 vulcanizations, elastic stronger, longer life expectancy.

It stores up and needs equipped with group ball machine structure 5 beside hole 21 of losing in ball bucket 1 to prevent card ball.When ball is more, need larger Torque can just stir, the most fast frequency of conveying mechanism is about 50 revs/min, and storage ball bucket 1 needs bigger frequency to lose to conveying Mechanism, dial ball motor 13 use ZGA20-130 decelerating motor, the decelerating motor operating voltage be 5V, reduction ratio 1:340, can To provide larger torque, sound is lower, and when operating in 5V, revolving speed is 27 revs/min, connects strip by first shaft coupling 20 Dial ball piece 14, dial 13 every revolution of ball motor, dial ball piece 14 can dial ball twice, dial ball frequency can reach 54 beats/min, be higher than Conveying mechanism highest frequency.

The motor 6 of losing of conveying mechanism uses N20 decelerating motor, and operating voltage 1.5V-6V turns when voltage is 3V 25 revs/min of scooter, when operating voltage reaches 6V, up to 50 revs/min, arc plectrum 7 is connected by second shaft coupling, When arc plectrum 7 is single head (arc plectrum 7 is c-type), 6 every revolution of motor of losing, arc plectrum 7 can be stirred once Ball；When arc plectrum 7 is double headed arcuate plectrum (arc plectrum 7 is S type), 6 every revolution of motor of losing, arc plectrum 7 Ball twice can be stirred.

The present embodiment, in conjunction with the advantage and disadvantage of table following formula and Portable pitching machine, devises on the basis of traditional service robot The automatic service robot structure of a set of improvement innovatively uses a kind of design of more friction pulleys on trigger mechanism, is not necessarily to hand Dynamic intervention is, it can be achieved that rotation on side, backspin, upper revolve and side backspin.Structure inside trigger mechanism, conveying mechanism and supporting mechanism Structure is carried out using screw to fix.The present embodiment has the motor for taking 3 kinds of different sizes altogether, is respectively used to friction pulley, hair Penetrate mechanism and conveying mechanism, the toss cylinder 9 and level of the present embodiment pipeline 3 of losing by bearing arrangement carry out rotation connection, such as Shown in Figure 10, the rotation angle of toss cylinder 9 can be changed according to self-demand.The present embodiment can be by vertical bar 38 and L-type connecting rod It is fixedly connected between 39, oscillating function can also will be fabricated between vertical bar 38 and L-type connecting rod 39, i.e., it is hingedly, convenient to rise in the future Grade transformation is realized and changes trigger mechanism pitch angle to the control to ball launch angle.

The protection scope of the utility model includes but is not limited to embodiment of above, and the protection scope of the utility model is to weigh Subject to sharp claim, replacement, deformation, the improvement that those skilled in the art that any pair of this technology is made is readily apparent that are each fallen within The protection scope of the utility model.

Claims (10)

1. a kind of table tennis automatic pitching machine, including ball mechanism, trigger mechanism and supporting mechanism, it is characterised in that: the confession Ball machine structure includes storage ball bucket (1), dials ball machine structure (5) and conveying mechanism, and the conveying mechanism includes that length extends in the vertical direction Vertically lose pipeline (2) and the horizontally extending level of length is lost pipeline (3), it is described vertically to lose under pipeline (2) The left side at end and the level lose pipeline (3) right end middle and upper part connection to combine l-shaped pipeline, it is described vertically to lose The upper end of pipeline (2) is connected to the bottom of storage ball bucket (1), and the left side for vertically losing pipeline (2) is fixed with bracket Mechanism (4), storage ball bucket (1) bottom centre, which is equipped with, dials ball machine structure (5), described group of ball machine structure (5) and the bracket institution (4) be fixedly connected, the right side of pipeline (2) of vertically losing is fixed with motor of losing (6), the motor of losing (6) it is defeated Shaft is connected with arc plectrum (7), and the lose middle and lower part of pipeline (3) right end of the level is offered for accommodating arc plectrum (7) horizontal short slot (8) and horizontal short slot (8) is located at the lower section for pipeline (2) lower end of vertically losing, and the trigger mechanism includes throwing Ball cylinder (9) and friction wheel assembly (10), the level lose pipeline (3) left end and the toss cylinder (9) right end rotation connect Connect, the outer surface of the toss cylinder (9) it is fixed there are three support base (11) and three support bases (11) along toss cylinder (9) circle Circumferential direction is uniformly distributed, and is set on the circumferencial direction of the toss cylinder (9) there are three notch (12) and per two adjacent support bases (11) there is a notch (12) between, three notches (12) are evenly distributed on the circumferencial direction of the toss cylinder (9), In a notch (12) be located at surface at the top of toss cylinder (9) or be located at the underface of toss cylinder (9) bottom, it is described At the vertical slave notch (12) of the friction pulley being fixed on support base (11) in friction wheel assembly (10) and friction wheel assembly (10) It puts in toss cylinder (9), the supporting mechanism is connect with the bracket institution (4) on the vertical pipeline of losing (2).

2. table tennis automatic pitching machine according to claim 1, it is characterised in that: described dial ball machine structure (5) include dialling Ball motor (13) and group ball piece (14), the bracket institution (4) include that cross-shaped fagging (15), left vertical support frame (16) and the right side are hung down The lower surface of straight bracket (17), the left end of the cross-shaped fagging (15) is connect with the top of left vertical support frame (16), and described ten The lower surface of the right end of word support plate (15) is connect with the top of the right vertical support frame (17), the cross-shaped fagging (15) Right end connect with the upper end of vertical pipeline of losing (2) left side and the right side of right vertical support frame (17) with it is described vertical defeated The left side in bulb road (2) is fixedly connected, and the middle part of the cross-shaped fagging (15) is equipped with the first hole (18), the storage ball bucket (1) bottom centre is equipped with the second hole (19), and the cross-shaped fagging (15) is fixedly connected and the with storage ball bucket (1) bottom One hole (18) and the second hole (19) in same vertical direction, described group of ball motor (13) be located at left vertical support frame (16) and Between right vertical support frame (17) and the output shaft of described group of ball motor (13) is worn from the first hole (18) of cross-shaped fagging (15) Out, the shell of described group of ball motor (13) is fixedly connected with the lower surface of the cross-shaped fagging (15), described group of ball motor (13) it is penetrated into from second hole (19) of storage ball bucket (1) bottom centre in storage ball bucket (1) and by first at the top of output shaft Shaft coupling (20) is fixedly connected with ball piece (14) are dialled, and described group of ball piece (14) is located in storage ball bucket (1), the left vertical support frame (16) lose with the level outer surface of pipeline (3) of the bottom of bottom and right vertical support frame (17) is fixedly connected to real The lose middle and upper part of right end of pipeline (3) of the left side of existing described pipeline (2) lower end of vertically losing and the level is connected to, described The front-end and back-end of cross-shaped fagging (15) are connect with supporting mechanism.

3. table tennis automatic pitching machine according to claim 2, it is characterised in that: the bottom of storage ball bucket (1) is equipped with It loses hole (21), the upper end for vertically losing pipeline (2) is fixed with pipeline engaging lug (22), described vertically to lose pipeline (2) Upper end be fixedly connected and the upper end of vertical pipeline of losing (2) by pipeline engaging lug (22) with the bottom of storage ball bucket (1) It is connected to the hole of losing (21), the right side for vertically losing pipeline (2) is fixed with T-type connecting plate (23), described to lose Motor (6) is fixed on T-type connecting plate (23), and the output shaft of the motor of losing (6) passes through second shaft coupling and the arc Plectrum (7) connection.

4. table tennis automatic pitching machine according to claim 3, it is characterised in that: the arc plectrum (7) is S-shaped, The output shaft of the motor of losing (6) is connect by second shaft coupling with the middle part of the arc plectrum (7), the motor of losing (6) it is connected with power supply.

5. table tennis automatic pitching machine according to claim 2, it is characterised in that: described group of ball piece (14) is dialled for strip The output shaft of piece, described group of ball motor (13) is connect by first shaft coupling (20) with the middle part of described group of ball piece (14), described It dials ball motor (13) and is connected with power supply.

6. table tennis automatic pitching machine according to claim 2, it is characterised in that: the bottom of the left vertical support frame (16) For L-type, the level, which is lost, to be respectively arranged with the upper left being fixedly connected with left vertical support frame (16) bottom at the top of pipeline (3) and connects Lug (24) and the waling stripe (25) being fixedly connected with right vertical support frame (17) bottom, the level are lost pipeline (3) Bottom is provided with and the symmetrical lower-left engaging lug (26) of upper left engaging lug (24) and upper left engaging lug (24) and lower-left engaging lug (26) it is respectively positioned on level to lose the left ends of pipeline (3), is provided with upper right engaging lug (27) at the top of toss cylinder (9) right end, The bottom of toss cylinder (9) right end is provided with bottom right engaging lug (28), the upper right engaging lug (27) and upper left engaging lug (24) it is rotatablely connected, the lower-left engaging lug (26) and bottom right engaging lug (28) are rotatablely connected.

7. table tennis automatic pitching machine according to claim 1, it is characterised in that: the level is lost pipeline (3) left end Outer circumference surface on it is fixed there are two symmetrical card ball link blocks (29), the surface of the card ball link block (29) is provided with For increasing the card ball device (30) of resistance for table tennis (40), the card ball device (30) includes screw (31), nut (32) and bullet Spring (33), the middle part of the card ball link block (29) are equipped with through-hole, and the end of the screw (31) passes through through-hole and screw (31) End be fixed with nut (32), the spring (33) is set between the nut (32) and card ball link block (29), described The outer diameter of spring (33) and the diameter on screw (31) head are all larger than the diameter of the through-hole, and the diameter of the nut (32) is greater than The outer diameter of the spring (33).

8. table tennis automatic pitching machine according to claim 1, it is characterised in that: the friction wheel assembly (10) is using fire Fox table tenning ball servicing machine friction pulley, including friction pulley, driving motor and motor cabinet, the driving motor are mounted on the motor On seat, the driving motor connect to drive friction wheel from rotation, the middle part of the support base (11) with the friction pulley The surface of threading hole (34) equipped with the signal wire for connecting across driving motor, the support base (11) is equipped with fixation hole (35) and fixation hole (35) is located at the threading hole (34) surrounding, the fixation hole on the motor cabinet and the support base (11) (35) it is fixedly connected, the driving motor is connected with motor driver, and the motor driver is used to control by outer CPU and drive The revolving speed of dynamic motor.

9. according to the described in any item table tennis automatic pitching machines of claim 2 to 6, it is characterised in that: the supporting mechanism packet Pedestal (36), inverted T shaped connecting rod (37), vertical bar (38) and L-type connecting rod (39) are included, the upper surface of the pedestal (36) is fixed with 2 The two sides of inverted T shaped connecting rod (37), the interior plumbing bar of the inverted T shaped connecting rod (37) are respectively and fixedly provided with vertical bar (38), the L-type connecting rod (39) Have 2, one end of a L-type connecting rod (39) between two adjacent vertical bars (38) and the L-type connecting rod (39) one End is connect with two adjacent vertical bars (38), and one end of another L-type connecting rod (39) is located at other two adjacent vertical bar (38) between and the connection of vertical bar (38) that one end of the L-type connecting rod (39) is adjacent with other two, the cross-shaped fagging (15) Front-end and back-end be L-type, the front end of the cross-shaped fagging (15) is connect with a L-type connecting rod (39), the cross-shaped The rear end of fagging (15) is connect with another L-type connecting rod (39), and the conveying mechanism and trigger mechanism are respectively positioned on 2 inverted T shaped companies Top between bar (37).

10. table tennis automatic pitching machine according to claim 9, it is characterised in that: the pedestal (36) is cup dolly, 2 inverted T shaped connecting rods (37) of pedestal (36) upper surface are symmetrically set.