CN209302142U - A kind of Double-head service robot - Google Patents
A kind of Double-head service robot Download PDFInfo
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- CN209302142U CN209302142U CN201821791572.6U CN201821791572U CN209302142U CN 209302142 U CN209302142 U CN 209302142U CN 201821791572 U CN201821791572 U CN 201821791572U CN 209302142 U CN209302142 U CN 209302142U
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Abstract
A kind of Double-head service robot, including sequentially connected service pedestal, service channel and service head, the service channel includes cue ball road and two bulb separation roads, so that service channel is in " Y " font, the bulb separation road is separately connected a service head, the cue ball road is equipped with bulb separation mechanism, the cue ball road and bulb separation road junction are equipped with optocoupler transmitting and the recipient of detection ball, and when optocoupler transmitting and recipient have detected ball by alley, the bulb separation mechanism starts bulb separation movement.By being equipped with optocoupler transmitting and the recipient of detection ball in cue ball road and service pedestal junction, can the case where ball passes through in real-time detection alley, the case where avoiding the occurrence of card ball or the dry run of bulb separation mechanism.By the straight line where setting emitter and receiver cannot by the center of circle in the cue ball road, and by the calculating of bulb separation mechanism size and ball size, so that bulb separation mechanism starts bulb separation when acting, the size of ball in the normal range when the phenomenon that being all not in card ball.
Description
Technical field
The utility model relates to automatic serve trainer tool fields, and in particular to a kind of Double-head service robot.
Background technique
With the improvement of people's life quality, more and more people pay attention to physical training, some sports enthusiasts are also borrowed
Help sports equipment and carries out some daily sports.And the sportsman as profession, it is also desirable to have a kind of sports equipment, energy
Them are enough helped to carry out the ball breaktest such as table tennis, tennis.In order to meet these demands of people, occurs hair in the market
Ball machine.By these service robots, user is not required to very important person's training mate, and can repeatedly, the acquisition of multi-angle is by the service robot
The different balls speed of sending and the ball of ball launch angle carry out the breaktest of ball.
The service robots such as existing table tennis or tennis can send out upper and lower, left and right spiral any and various sides on, under side
Mix spiral, and speed rotation respectively it is adjustable, while also can knuckle service, close to true man under battle conditions.Ball can be also adjusted out up and down to bow
Elevation angle degree, any back and forth or left and right drop point that is arranged change, and realize fixed point, multizone and full court multi-point transmitting.Out ball speed, go out
Ball frequency, head swing speed are all provided with multi gear, can arbitrarily adjust, and it is multiple to go out ball per minute.And it can also contain automatic recycle and for ball
System, it is lasting to strike, without picking up ball.Fast Installation and disassembly only need a few minutes, without any tool.
However, the service of existing service robot is all that the service in different bulb separation roads is realized using the rotation of serving mechanism,
Bulb separation service during, since the position of ball can not be detected, may due to bulb separation mechanism maloperation and there is showing for card ball
As especially for table tennis, table tennis currently on the market has 40 mm, 40+mm；And size is not yet for the table tennis of 40+mm
One, and existing table tenning ball servicing machine can only be applicable in a kind of table tennis of size, have the ball of a little difference to be easy diameter
Now card ball phenomenon.
Utility model content
The purpose of this utility model is to provide a kind of Double-head service robots, are easy for solving service robot in the prior art
There is the problem of card ball.
To solve the above-mentioned problems, the utility model provides a kind of Double-head service robot, including sequentially connected service base
Seat, serve a ball channel and service head, the service channel includes cue ball road and two bulb separation roads, so that service channel is in " Y "
Font, the bulb separation road are separately connected a service head, and the cue ball road is equipped with bulb separation mechanism, the cue ball road and bulb separation
Road junction is equipped with optocoupler transmitting and the recipient of detection ball, when optocoupler transmitting and recipient have detected that ball passes through ball
Road, the bulb separation mechanism start bulb separation movement.
The utility model improves the structure of service robot, including service pedestal, alley and service head, service head pass through
Alley is connect with service pedestal, its main feature is that service robot is equipped at least two service heads, alley includes two each hairs of connection
The bulb separation road of ball machine head, bulb separation road are connected by bulb separation mechanism.Ball is conveyed using multiple service heads and by bulb separation mechanism
It is penetrated to different service robot hairs, each service head independent work randomly chooses different service robot hairs by program and penetrates,
Trainer can not just expect the direction and position of service from the rotation direction of a head is judged in this way.This structure is more prominent
The advantages of be that multiple service heads can be arranged to issue different rotary direction or the different ball of spin intensity, pass through software
Setting can replace between multiple service heads and serve a ball, carry out free switching, realize that service rotates and drop point is diversified and want
It asks, meets trained difficulty.The bulb separation mechanism can be realized accurately controlling for service, guarantee the sequence of alley for ball, no
It will lead to service head and lack ball or alley obstruction.
In order to avoid the interference between service head during rotation, to be maintained a certain distance between head of serving a ball,
And it is arranged to rotate between adjacent service head by software and is staggered, will not be collided in use process.Optimal mode is
Service robot is provided only with left and right two services head, it can meets the setting that trained requirement in turn simplifies software.This structure
Alley be in Y-shaped, two, top be separately connected it is left and right service head left and right bulb separation road master is connected to by bulb separation mechanism
After alley with service pedestal connect or two connection service heads bulb separation roads by bulb separation mechanism directly with serve a ball pedestal
Connection.A service robot hair can be set during use and go out top spin, another service robot hair goes out chop, leads to
The flexile switching for crossing two service heads, can be realized the diversification of service robot service, reaches trained difficulty.
In order to avoid there is card ball, the utility model is equipped with the optocoupler of detection ball in the cue ball road and bulb separation road junction
Transmitting and recipient.Since service robot is in operation, can endlessly have ball from pedestal upwards until serve a ball head in,
It, will if only small part ball removes, and when bulb separation mechanism still rotates during ball is separated from bulb separation mechanism to bulb separation road
There is the problem of ball blocks.Optocoupler transmitting and recipient by setting detection ball, can't detect ball by alley, at this time
The rotation of bulb separation mechanism would not be controlled, avoids the occurrence of card ball phenomenon, and when ball has been used up, and does not have ball, optocoupler transmitting and receiving
Device equally can't detect ball, by stopping the operating of bulb separation mechanism in time, avoids bulb separation mechanism from dallying, reduces the idle running of bulb separation mechanism and make
At mechanical loss.
Further, the optocoupler transmitting and recipient include the hair set on the cue ball road and bulb separation road junction side
Emitter and recipient set on the cue ball road and the bulb separation road junction other side, the transmitter and the recipient line institute
In straight line without the center in the cue ball road, when so that ball at least half stretching out bulb separation mechanism, the bulb separation mechanism starts point
Ball movement.
The transmitter and the recipient cooperate, when thering is ball to pass through therebetween, communication hair between the two
Raw to interrupt, then being judged as has ball to pass through, and can star bulb separation mechanism.Since during service, ball is continuously to pass through
, if straight line where the transmitter and the recipient to be passed through to the center in the cue ball road, the transmitter and institute
State recipient can constant testing to there is ball to pass through, due to cue ball road be also it is cylindrical, during installation, institute between both
Straight line cannot be by the center of circle in the cue ball road, and by the calculating of bulb separation mechanism size and ball size, so that ball separating machine
Structure start bulb separation movement when, ball to be separated has half to stretch out bulb separation mechanism, therefore, the size of ball in the normal range when
The phenomenon that being all not in card ball.
Further, the internal diameter of the bulb separation mechanism is D, bulb diameter d, wherein 70≤D≤80,40≤d≤45.
In order to further control the operating of bulb separation mechanism, card ball is avoided the occurrence of, two cannot be accommodated bulb separation is in-house
Complete ball, therefore, when the ball wait separate of bulb separation mechanism at least half stretches out bulb separation mechanism, the optocoupler transmitting and receiving
Device can just detect that ball passes through, and then control the rotation of bulb separation mechanism, realize bulb separation operation.
Further, the vertical range of the optocoupler transmitting and recipient and cue ball road middle line is less than 1/2d.
Position by limiting the optocoupler transmitting and recipient can further control the time point of bulb separation mechanism operating,
Wherein the vertical range of optocoupler transmitting and recipient and cue ball road middle line is less than 1/2d, be able to extend the optocoupler transmitting and
Recipient detects the time that ball passes through, so that measurement is more accurate.
Further, the bulb separation mechanism is the single channel bulb separation mechanism that a gating is selected in controllable bulb separation road, the bulb separation
It is in-house to be equipped with the unidirectional release mechanism for stopping ball reflux.
Ball blocks when selector channel in alley in order to prevent, and the design is general, and only one bulb separation road is and service
Pedestal is connection, therefore the bulb separation mechanism is the single channel bulb separation mechanism that a gating is selected in controllable bulb separation road.The ball of service robot
Road is longer, and alley is loaded with ball in use process, and ball above blocks down ball upwardly under gravity in order to prevent
Body, especially on the position of shunting.Therefore this patent bulb separation it is in-house be equipped with stop ball reflux unidirectional release mechanism,
Ball can not just retract after passing through release mechanism in this way, prevent bulb separation mechanism in gating Shi Kaqiu.
Further, the bulb separation mechanism includes the bulb separation disk and driving bulb separation disk set on bulb separation road and cue ball road junction
The motor of rotation, when so that motor driven bulb separation disk rotating, by ball point in different bulb separation roads.
Further, the bulb separation disk includes that the turntable rotated by the motor driven and two on turntable are used for
Stop first stop block and the second stop block in non-goal channel.
Bulb separation mechanism suitable for Y-shaped alley includes being mounted between cue ball road and left and right bulb separation road, is controlled left and right
The bulb separation disk of bulb separation road gating and the motor of driving bulb separation disk.Bulb separation disk is symmetrically arranged two by a turntable and on disk edge
Block stop block is constituted, and stop block can prevent ball from passing through from left bulb separation road or right bulb separation road during rotating with turntable.
Further, the distance between first stop block and the second stop block are greater than the diameter of ball, less than the diameter of turntable.
Such as when the first stop block blocks left side bulb separation road, the second stop block can be located at the lower section in right side bulb separation road, and rotate
After bulb separation disk, the second stop block blocks right side bulb separation road, and the first stop block can be located at the lower section in left side bulb separation road at this time.So that the first resistance
The channel that ball passes through is formd between block and the second stop block, therefore the distance between first stop block and the second stop block are greater than ball
Diameter.And in bulb separation mechanism rotation process, during realizing bulb separation operation, so that the rotation amplitude of bulb separation mechanism is most
It is small, therefore the diameter that the distance between first stop block and second stop block are less than turntable is arranged in the utility model.
Further, first stop block and the second stop block are opposite medial surface and opposite lateral surface is arc surface,
The opposite upper part of stop block is wedge shaped, end rounding off.
Further, two bulb separation road lateral surfaces are equipped with the opening for allowing stop block to pass through when rotating, the length of the stop block
No more than arc length of the rotational trajectory where it between bulb separation road and cue ball road.
The opposite medial surface of two pieces of stop blocks and opposite lateral surface are arc surface, and the opposite upper part of stop block is wedge shaped, end
Portion's rounding off.In this way when bulb separation disk turns, the ball in alley would not be blocked, is conducive to the smooth delivery of power of ball.
In order to simplify structure, reliability is improved, left and right bulb separation road lateral surface, which is equipped with, allows what is passed through when stop block rotation to open
Mouthful.During use, it can freely pass through when stop block rotates, when one of its is transferred to opening, realize in the opening
Corresponding bulb separation road closing, another piece is then produced another side opening, realizes the unimpeded of another bulb separation road.Card ball in order to prevent, resistance
Arc length of the length of block no more than rotational trajectory where it between left or right branch alley and cue ball road, that is, gate a bulb separation road
When, stop block is threaded to produce branch alley less, will not hinder ball is smooth in bulb separation road to pass through.
The utility model has the beneficial effects that
It, being capable of real-time detection by being equipped with optocoupler transmitting and the recipient of detection ball in cue ball road and service pedestal junction
The case where ball passes through in alley, the case where avoiding the occurrence of card ball or the dry run of bulb separation mechanism.Pass through setting transmitter and receiving
Straight line where device cannot be by the center of circle in the cue ball road, and passes through the calculating of bulb separation mechanism size and ball size, makes score
When ball machine structure starts bulb separation movement, ball to be separated has half to stretch out bulb separation mechanism, and therefore, the size of ball is in normal range (NR)
The phenomenon that being all not in card ball when interior.
And the utility model is provided with transmitting head, can be realized different rotary service and random selection head service, tool
There is more preferably training effect, can prevent trainer from forming bad habit.Various structures optimal setting guarantees the steady of machine operation
It is qualitative, so that structural improvement is carried out.
Detailed description of the invention
Fig. 1 is the utility model Double-head pitching machine structure schematic diagram.
Fig. 2 be in Fig. 1 B to cross-sectional view.
Fig. 3 is the portion A enlarged drawing in Fig. 1.
Fig. 4 is bulb separation mechanism side sectional view.
Specific embodiment
To keep the purposes, technical schemes and advantages of the utility model implementation clearer, below in conjunction with the utility model
Attached drawing in embodiment, is further described in more detail the technical scheme in the embodiment of the utility model.In the accompanying drawings, from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Described reality
Applying example is the utility model a part of the embodiment, instead of all the embodiments.Below with reference to the embodiment of attached drawing description
It is exemplary, it is intended to for explaining the utility model, and should not be understood as limiting the present invention.It is practical new based on this
Embodiment in type, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, fall within the protection scope of the utility model.The embodiments of the present invention are described in detail with reference to the accompanying drawing.
A kind of Double-head service robot, as shown in Figure 1, include sequentially connected service pedestal 1, serve a ball channel 2 and service
Head 3, the service channel 2 includes cue ball road 21 and two bulb separation roads 22, so that service channel 2 is in " Y " font, the bulb separation
Road 22 is separately connected a service head 3, as shown in Fig. 2, the cue ball road 21 is equipped with bulb separation mechanism 4, the cue ball road 21
Optocoupler transmitting and the recipient 5 of detection ball are equipped with 22 junction of bulb separation road, when optocoupler transmitting and recipient 5 have detected
For ball by alley, the bulb separation mechanism 4 starts bulb separation movement.
As shown in figure 3, the optocoupler transmitting and recipient 5 include being set to the cue ball road 21 and 22 junction one of bulb separation road
The transmitter 51 of side and recipient 52 set on the cue ball road 21 and the 22 junction other side of bulb separation road, can see in conjunction with Fig. 2
Out, straight line where the transmitter 51 and the recipient 52 line without the cue ball road 21 center so that ball is at least
When half stretches out bulb separation mechanism 4, the bulb separation mechanism 4 starts bulb separation movement.
The internal diameter of the bulb separation mechanism 4 is D, bulb diameter d, wherein 70≤D≤80,40≤d≤45.
The vertical range of the optocoupler transmitting and recipient 5 and 21 middle line of cue ball road is less than 1/2d.
The bulb separation mechanism 4 is the single channel bulb separation mechanism 4 that a gating is selected in controllable bulb separation road, in the bulb separation mechanism 4
Portion is equipped with the unidirectional release mechanism for stopping ball reflux.
As shown in connection with fig. 4, the bulb separation mechanism 4 include set on bulb separation road 22 and 21 junction of cue ball road bulb separation disk 41 and
The stepper motor 42 for driving bulb separation disk 41 to rotate, when so that stepper motor 42 driving bulb separation disk 41 to rotate, by ball point different
Bulb separation road 22.
Further as shown in figure 4, the bulb separation disk 41 includes driving the turntable 411 of rotation by the motor 42 and being set to turn
Two on disk 411 are used to stop first stop block 412 and the second stop block 413 in non-goal channel.
The distance between first stop block 412 and the second stop block 413 are greater than the diameter of ball, less than the diameter of turntable 411.
First stop block 412 and the second stop block 413 are opposite medial surface and opposite lateral surface is arc surface, stop block
Opposite upper part is wedge shaped, end rounding off.
Two 22 lateral surfaces of bulb separation road are equipped with the opening for allowing stop block to pass through when rotating, and the length of the stop block is not more than it
Arc length of the place rotational trajectory between bulb separation road 22 and cue ball road 21.
During service, ball is pushed into the cue ball road 21 of " Y " font alley by service pedestal 1, by bulb separation mechanism 4
It selects one to enter in left and right bulb separation road, then is issued by service head 3.Two service heads 3 may be implemented to reverse and send different
The ball of direction of rotation increases training difficulty to realize the diversity of ball launch angle.
According to optocoupler transmitting and recipient 5 be arranged position be when optocoupler transmitting and recipient 5 detected that ball passes through when,
More than half sphere has stretched out the bulb separation disk 41 of bulb separation mechanism to the ball sent.Service robot itself further comprises control
Device, for receiving the signal of optocoupler transmitting and recipient transmission, and further, control stepper motor 42 drives bulb separation mechanism to turn
It is dynamic.The stepper motor can be controlled by single-chip microcontroller.The specific working mode of bulb separation mechanism 4 is when optocoupler emits and connects
When receiver 5 has detected that ball passes through, after control device receives signal, control stepper motor 42 drives bulb separation disk 41 to rotate, and
Through the first stop block 412 being arranged on bulb separation disk or the barrier of the second stop block 413 between two balls, so that one of bulb separation road
While opening, another bulb separation road is blocked, and guarantees that only one ball enters bulb separation road every time.
The angle that stepper motor 42 rotates is also by presetting progress, and such as the first stop block blocks left side bulb separation road
When, right side bulb separation road is in unimpeded state, and when the second stop block blocks right side bulb separation road, left side bulb separation road is in unimpeded shape
State.
Embodiment of above is merely intended for describing the technical solutions of the present application, but not for limiting the present application, although referring to above preferably real
Mode is applied the utility model is described in detail, those skilled in the art should understand that, it can be practical new to this
The technical solution of type is modified or equivalent replacement should not all be detached from the spirit and scope of the technical scheme of the present invention.This field
Technical staff can also do the design that other variations etc. are used in the utility model within the spirit of the present invention, without departing from this
The technical effect of utility model.These changes made in accordance with the spirit of the present invention should all be included in the utility model
Within the scope of claimed.
Claims (10)
1. a kind of Double-head service robot, including sequentially connected service pedestal (1) serve a ball channel (2) and serve a ball head (3),
The service channel (2) includes cue ball road (21) and two bulb separation roads (22), so that service channel (2) is in " Y " font, described point
Alley (22) is separately connected a service head (3), and the cue ball road (21) is equipped with bulb separation mechanism (4), which is characterized in that institute
It states cue ball road (21) and bulb separation road (22) junction is equipped with optocoupler transmitting and the recipient (5) of detection ball, when the optocoupler emits
And recipient (5) has detected ball by alley, the bulb separation mechanism (4) starts bulb separation movement.
2. Double-head service robot according to claim 1, which is characterized in that the optocoupler transmitting and recipient (5) include
And set on the transmitter (51) of the cue ball road (21) Yu bulb separation road (22) junction side and set on the cue ball road (21) divide
Straight line is without described where the recipient (52) of alley (22) junction other side, the transmitter and the recipient line
The center in cue ball road (21), when so that ball at least half stretching out bulb separation mechanism (4), the bulb separation mechanism (4) starts bulb separation movement.
3. Double-head service robot according to claim 1 or 2, which is characterized in that the internal diameter of the bulb separation mechanism (4) is D,
Bulb diameter is d, wherein 70≤D≤80,40≤d≤45.
4. Double-head service robot according to claim 3, which is characterized in that the optocoupler transmitting and recipient (5) and master
The vertical range of alley (21) middle line is less than 1/2d.
5. Double-head service robot according to claim 1, which is characterized in that the bulb separation mechanism (4) is controllable bulb separation
The single channel bulb separation mechanism (4) of a gating is selected in road, is equipped with the unidirectional golf emitter for stopping ball reflux inside the bulb separation mechanism (4)
Structure.
6. Double-head service robot according to claim 1, which is characterized in that the bulb separation mechanism (4) includes being set to bulb separation
The motor (42) of the bulb separation disk (41) and driving bulb separation disk (41) rotation of road (22) and cue ball road (21) junction, so that motor
(42) when driving bulb separation disk (41) rotation, by ball point in different bulb separation roads (22).
7. Double-head service robot according to claim 6, which is characterized in that the bulb separation disk (41) includes by the motor
(42) turntable (411) of driving rotation and two on turntable (411) are used to stop first stop block in non-goal channel
(412) and the second stop block (413).
8. Double-head service robot according to claim 7, which is characterized in that first stop block (412) and the second stop block
The distance between (413) it is greater than the diameter of ball, is less than the diameter of turntable (411).
9. Double-head service robot according to claim 7, which is characterized in that first stop block (412) and the second stop block
It (413) is arc surface for opposite medial surface and opposite lateral surface, the opposite upper part of stop block is wedge shaped, the round and smooth mistake in end
It crosses.
10. Double-head service robot according to claim 7, which is characterized in that two bulb separation road (22) lateral surfaces, which are equipped with, to be permitted
Perhaps the opening passed through when stop block rotates, the length of the stop block is no more than rotational trajectory where it in bulb separation road (22) and cue ball road
(21) arc length between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821791572.6U CN209302142U (en) | 2018-10-31 | 2018-10-31 | A kind of Double-head service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821791572.6U CN209302142U (en) | 2018-10-31 | 2018-10-31 | A kind of Double-head service robot |
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| Publication Number | Publication Date |
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| CN209302142U true CN209302142U (en) | 2019-08-27 |
Family
ID=67672000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201821791572.6U Active CN209302142U (en) | 2018-10-31 | 2018-10-31 | A kind of Double-head service robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114504793A (en) * | 2022-02-21 | 2022-05-17 | 唐山师范学院 | Automatic volleyball throwing machine used during volleyball teaching training |
| CN115531846A (en) * | 2022-08-15 | 2022-12-30 | 南昌工学院 | Automatic volleyball throwing machine used during volleyball teaching training |
-
2018
- 2018-10-31 CN CN201821791572.6U patent/CN209302142U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114504793A (en) * | 2022-02-21 | 2022-05-17 | 唐山师范学院 | Automatic volleyball throwing machine used during volleyball teaching training |
| CN115531846A (en) * | 2022-08-15 | 2022-12-30 | 南昌工学院 | Automatic volleyball throwing machine used during volleyball teaching training |
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