CN209790811U

CN209790811U - table tennis service robot

Info

Publication number: CN209790811U
Application number: CN201920479147.1U
Authority: CN
Inventors: 黎泽伦; 周传德; 黄友均; 吕中亮; 邓显玲
Original assignee: Chongqing University of Science and Technology
Current assignee: Chongqing University of Science and Technology
Priority date: 2019-04-10
Filing date: 2019-04-10
Publication date: 2019-12-17
Anticipated expiration: 2029-04-10

Abstract

The utility model discloses a table tennis service robot with simple structure and strong practicability. Its base, be located the tubbiness ball collector of base top, its characterized in that, be equipped with the power on the base, with the confession ball motor that the power electricity is connected, be equipped with in the ball collector and supply the ball blade, supply the ball blade with supply ball motor power to connect, be equipped with on the ball collector rather than the intercommunication and be T type tee bend pipy ball-sending pipeline, the pipe diameter of ball-sending pipeline is greater than the ball footpath of table tennis, and an opening of ball-sending pipeline is equipped with and supplies the ball fan, and another opening of ball-sending pipeline is connected with the service head rather than the intercommunication, is equipped with two brushless DC motor in the service head, all is equipped with the friction pulley on two brushless DC motor's the rotor, two leave the clearance between the friction pulley and form the service opening, supply ball fan and two brushless DC motor all with the power electricity is connected.

Description

Table tennis service robot

Technical Field

The utility model belongs to table tennis equipment field relates to a table tennis service robot.

Background

The types of service robot on the market are roughly divided into four types. Respectively of the power-supply-free type: according to the name of the robot, the robot does not need a power supply, and the types of the robot are few. Moreover, the pitching machine has no other types and is easy to use; desktop portable: the IPONG brand is the IPONG brand, the fastest speed of serving is about 70 in one minute, the slowest serving speed of serving is about 28 in one minute, the capacity of the IPONG brand is relatively large, at most 110 table tennis balls can be contained, and the IPONG brand can serve three types of rotary balls, including upward rotation, downward rotation and re-rotation, the operation of the IPONG brand is very simple, and only a button is needed to be used for self-adjustment, so that the IPONG brand is very flexible and convenient in general, and can serve a plurality of rotary balls and non-rotary balls similar to those sent by human beings; standard type: the standard type is a pitching machine which we imagine, so that the brand of the pitching machine is very much and the models are quite rich, wherein the most common brands are as follows: legi, super coach, tide, oki, dori, xushao intelligent coach machine, 2080 pitching machine, etc.; a robot server: the robot pitching machine is more intelligent than other pitching machines at a glance, the most robot pitching machines at present are pitching machines with different models developed by Taide corporation, the pitching machines are not limited to pitching, the robot pitching machine is highly intelligent, the robot pitching machine also has the own pitching action, like people play table tennis, the racket of the robot is developed by adopting special materials, and the training by the pitching machine is almost as good as the training of a real person.

Until now, compared with the domestic table tennis service robot, the foreign table tennis service robot is relatively fast in development and relatively perfect in function, and the performance of the foreign service robot is relatively high, so that the foreign table tennis service robot not only can meet the requirement of common training of table tennis enthusiasts, but also can be used for training professional table tennis athletes in China, and therefore, the foreign table tennis service robot is very practical and has a relatively high practical value. Many manufacturers around the world are producing table tennis ball serving machines, probably due to the heat of the table tennis sport. Manufacturers are also increasing. To date, perhaps the most representative of the manufacturers abroad are NEWGY in the United states and Butterfly in Japan. The following are the two brands most well known to two companies.

1. Le ji pitching machine:

The le ji pitching machine is a pitching machine developed by NEWGY of the United states. The service principle of the service robot is as follows: the ball serving device is composed of a rotating wheel and a small friction block, wherein the rotating wheel is used for rotating a ball out of a ball serving port when the ball enters a ball serving channel, and different ball serving can be obtained by changing the position and the angle of the rotating wheel and the like.

The Leji table tennis serving machine can be generally divided into three types according to different training requirements, wherein the first type is the most primary serving machine. It is designed specifically for those who have just begun to engage in table tennis, and for those who have taken table tennis as an entertainment item, the balls that are delivered by such a service robot are relatively simple. The second category is more advanced than the first category, the internal design of which is more complex than the first category, the pitching machine of this category is designed for those who are going to participate in table tennis games, i.e. those who participate in table tennis sports, the third category is the highest pitching machine, which is designed for the national table tennis players, because of the strict training requirements, the requirements for the pitching machine are also strict, and the pitching machine is also suitable for some table tennis players.

Therefore, in conclusion, the brand of table tennis serving machine is characterized in that the table tennis serving machine can be used for selecting the proper type of the table tennis serving machine which is required by people according to the level of the table tennis, so that the level of the table tennis can be improved more quickly, and the table tennis can be replaced by the higher table tennis serving machine of the brand after the level of the table tennis is improved. And the pitching machine of the people can reach higher grade only by an official upgrade package without purchasing the pitching machine again. The speed of the service, the frequency of the service, the speed of the rotation and the like of the service machine can be adjusted. The change can be realized only by simply operating the controller of the pitching machine; in addition, the knob on the serve head can be manually adjusted, so that the rotating direction of the sent ball can be changed, and the ball can be sent no matter the rotating ball is an upward rotating ball, a downward rotating ball, a side rotating ball and the like; in addition, the launching machine is provided with a swing mechanism, the machine head can start to swing by manually adjusting a control rod of the launching machine, so that the pitching machine can shoot balls in different directions, and fixed-point pitching can be realized by the pitching machine.

Amicus pitching machine:

An Amicus brand pitching machine is a representative brand of Butterfly corporation of japan, and the pitching principle of this pitching machine is relatively simple. The ball serving principle is that two friction wheels are selected and installed oppositely, and two motors are selected as power sources. After the table tennis is sent into the service pipe, the table tennis will roll into between two service wheels, because the outside effect of friction wheel, the table tennis will be rubbed out, but this kind of service machine's shortcoming is exactly: only one spin is emitted.

Compared with foreign countries, the time for researching the service robot in our country is much later, but the difference is that our development in this respect is very rapid, and the development time is much faster than that in foreign countries. And if the product quality and the function are compared, the product produced by our country is superior to foreign countries in the aspects of quality and performance by the same product comparison. The domestic pitching machine mainly comprises the following categories: semi-automatic table tennis serving machine, double-snake table tennis serving machine and intelligent table tennis training machine for offering and serving. Through years of development, the service robot developed by our country is greatly improved in both function and quality.

1. Semi-automatic table tennis service robot:

The pitching machine is made by a name called forest Qingyun in China. The pitching machine mainly comprises a pitching head, a ball collector and a friction wheel. The working principle of the pitching machine is as follows: because the ball collector of service robot sets up on the service robot, the back in the service robot is fallen to the table tennis by gravity, and the service robot is rotatory by the drive of motor, sends out the table tennis that falls into, and the table tennis receives the friction of the rotatory friction pulley at a high speed afterwards to the service robot is thrown out with rotatory state.

2. The double-snake table tennis ball serving machine comprises:

The pitching machine is developed by a double-snake company, is a pitching machine with computer control, draws many foreigners' experiences from a highly automatic double-snake company, and is a new generation pitching machine developed by analyzing many previous table tennis pitching machines. The service robot has the greatest advantage that the functions can be realized through computer programming and one key, namely when the service robot is used, the service robot can automatically send any ball only by pressing one key, and the service robot is very convenient and practical.

3. the intelligent table tennis service robot for offering service:

The pitching machine is invented by Sanding corporation, the controller of the pitching machine is controlled by a microcomputer, the automation of the training process is realized, and the fixed-point launching of the table tennis can be realized according to the program. The principle of the ball serving machine is that two oppositely-mounted friction wheels are adopted to launch balls, and the table tennis balls are subjected to the friction action of the friction wheels and then are launched. The trainer can change the launching direction, the rotating speed, the rotating direction and the like of the table tennis according to the requirement of the trainer.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problems and providing a table tennis service robot with simple structure and strong practicability.

The utility model discloses the following technical scheme of accessible realizes: the utility model provides a table tennis service robot, includes the base, is located the tubbiness ball collector of base top, its characterized in that, be equipped with the power on the base, with the confession ball motor that the power electricity is connected, be equipped with in the ball collector and supply the ball blade, supply the ball blade with supply ball motor power to connect, be equipped with on the ball collector rather than the intercommunication and be T type tee bend pipy send the ball pipeline, send the pipe diameter of ball pipeline to be greater than the ball footpath of table tennis, send an opening of ball pipeline to be equipped with and supply the ball fan, send another opening of ball pipeline to be connected with the service robot rather than the intercommunication, be equipped with two brushless DC motor in the service robot, all be equipped with the friction pulley on two brushless DC motor's the rotor, two leave the clearance between the friction pulley and form the service robot, supply ball fan and two brushless DC motor all with the power electricity is connected.

Preferably, still including being located the rocking arm between ball collector and the base, be equipped with vertical primary shaft on the lower surface of rocking arm one end, the primary shaft is connected with the rocking arm motor power that sets up on the base, the rocking arm motor with the power electricity is connected, be equipped with vertical secondary shaft on the upper surface of the rocking arm other end, the bottom of ball collector is equipped with the recess, is equipped with the slider in the recess, the slider with the secondary shaft is connected, forms rocking arm slider mechanism for drive ball collector swing.

Preferably, the ball supply blade is in power connection with the ball supply motor through a coupler, and a plane thrust needle roller bearing which is abutted against the bottom of the ball collector is arranged on the coupler and used for swinging of the ball collector.

Preferably, the ball supply blade is a blade wheel, three blades are uniformly arranged on the blade wheel, the included angle between two adjacent blades is 120 degrees, and a blade groove for accommodating a table tennis ball is formed between two adjacent blades.

Preferably, the number of the blade wheels is two, the two blade wheels are oppositely arranged up and down, and the distance between the two blade wheels is slightly larger than the ball diameter of the table tennis.

Preferably, the service head comprises two steel plates, two ends of the two steel plates are fixedly connected to form a channel capable of containing table tennis balls between the two steel plates, one end of the channel is provided with a connecting pipe connected to another opening of the ball conveying pipeline and used for allowing table tennis balls to enter the service head, and the other end of the channel is provided with two brushless direct current motors.

Preferably, the connecting pipe is plugged into the other opening of the ball conveying pipeline.

Preferably, the gap between the two friction wheels is slightly smaller than the ball diameter of the table tennis.

Preferably, the friction wheel is a silica gel wheel.

Compared with the prior art, the utility model discloses there is following beneficial effect: the utility model discloses among the table tennis service robot, table tennis supplies the ball blade to squeeze into in the ball sending pipeline in ball collector, then blows in the service robot head through supplying the ball fan, when two brushless DC motor rotated, directly drives the friction pulley and rotates, and the clearance process in the middle of the table tennis follow two friction pulleys can be launched by the friction, has realized the service robot. In addition, the table tennis service robot of the utility model also has the advantages of simple structure, strong practicability and the like.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a schematic structural view of a ball supply blade of the present invention;

FIG. 3 is a schematic structural view of the ball feeding pipe of the present invention;

FIG. 4 is a schematic structural view of a serving head of the present invention;

Fig. 5 is a schematic structural diagram of the rocker arm of the present invention.

Reference numerals

The ball feeding device comprises a base 1, a ball collector 2, a power supply 3, a ball feeding motor 4, a ball feeding blade 5, blades 501, a blade groove 502, a ball feeding pipeline 6, a ball feeding fan 7, a ball sending head 8, a brushless direct current motor 801, a friction wheel 802, a steel plate 803, a connecting pipe 804, a rocker arm 9, a first shaft 901, a second shaft 902, a coupler 10, a planar thrust needle bearing 11 and a rocker arm motor 12.

Detailed Description

the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.

In the present embodiment, the terms "upper", "lower", "left", "right", "front", "rear", "upper end", "lower end", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description, but do not indicate or imply that the designated device or element must have a specific orientation, be constructed in a specific orientation, or be operated, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-5, an embodiment of a table tennis serving machine includes a base 1, a barrel collector 2 above the base 1, the base 1 is provided with a power supply 3 and a ball supply motor 4 electrically connected with the power supply 3, the ball collector 2 is internally provided with a ball supply blade 5, the ball supply blade 5 is in power connection with the ball supply motor 4, the ball collector 2 is provided with a T-shaped three-way tubular ball sending pipeline 6 communicated with the ball collector, the pipe diameter of the ball sending pipeline 6 is larger than the ball diameter of a table tennis ball, one opening of the ball sending pipeline 6 is provided with a ball supply fan 7, the other opening of the ball sending pipeline 6 is connected with a ball serving head 8 communicated with the ball sending pipeline, two brushless direct current motors 801 are arranged in the ball serving head 8, friction wheels 802 are arranged on the rotors of the two brushless direct current motors 801, a gap is reserved between the two friction wheels 802 to form a ball serving port, the ball supply fan 7 and the two brushless direct current motors 801 are electrically connected with the power supply 3.

the swing ball collecting device is characterized by further comprising a swing arm 9 located between the ball collecting device 2 and the base 1, a vertical first shaft 901 is arranged on the lower surface of one end of the swing arm 9, the first shaft 901 is in power connection with a swing arm motor 12 arranged on the base 1, the swing arm motor 12 is electrically connected with the power supply 3, a vertical second shaft 902 is arranged on the upper surface of the other end of the swing arm 9, a groove is formed in the bottom of the ball collecting device 2, a sliding block is arranged in the groove and connected with the second shaft 902 to form a swing arm sliding block mechanism used for driving the ball collecting device 2 to swing. The ball collector 2 swings to send the table tennis balls to different directions.

The ball supply blades 5 are in power connection with the ball supply motor 4 through a coupler 10, and a plane thrust needle roller bearing 11 which is abutted to the bottom of the ball collector 2 is arranged on the coupler 10 and used for swinging the ball collector 2. The plane thrust needle roller bearing 11 supports the ball collector 2 in an abutting manner, and is favorable for the swing of the ball collector 2.

the ball supply blade 5 is a blade wheel, three blades 501 are uniformly arranged on the blade wheel, the included angle between two adjacent blades 501 is 120 degrees, and a blade groove 502 for accommodating a table tennis ball is formed between two adjacent blades 501.

The quantity of paddle wheel is two, two the paddle wheel is relative installation from top to bottom, two the interval between the paddle wheel slightly is greater than the ball footpath of table tennis. The push of the two blade wheels to the table tennis can prevent the table tennis from jumping out of the blade grooves 502 on the blade wheels and not entering the service pipeline, which is beneficial to ensuring the table tennis to smoothly enter the ball sending pipeline 6.

the serving head 8 is composed of two steel plates 803, two ends of the two steel plates 803 are fixedly connected to form a channel capable of containing table tennis balls between the two steel plates 803, one end of the channel is provided with a connecting pipe 804 connected to the other opening of the ball sending pipeline 6 and used for enabling table tennis balls to enter the serving head 8, and the other end of the channel is provided with two brushless direct current motors 801.

the connecting pipe 804 is inserted into the other opening of the ball feeding pipe 6. Is beneficial to the rotation of the serve head.

The gap between the two friction wheels 802 is slightly smaller than the ball diameter of the table tennis.

The friction wheel 802 is a silica gel wheel.

The working process is as follows:

Firstly, table tennis is placed in the ball collector 2, the table tennis enters the blade groove 502 of the supply and demand blade 501, the power supply 3 is turned on, the ball supply blade 5 rotates and extrudes the table tennis into the ball sending pipeline 6, then the ball supply fan 7 blows the table tennis in the ball sending pipeline 6 into the ball sending head 8, the power supply 3 drives the two brushless direct current motors 801 to rotate and drives the friction wheels 802 to rotate, and the table tennis passes through a gap between the two friction wheels 802 and is rubbed and launched out, so that the ball sending is realized. When the direction of serving is required to be changed, the power supply 3 is used for starting the rocker motor 12 to drive the rocker slider mechanism to drive the ball collector 2 to swing, so that the direction of serving is changed. In addition, can obtain the service of different rotations through adjusting the rotational speed of two friction wheels 802, when going up the friction wheel rotational speed and being greater than lower friction wheel rotational speed, obtain the spin-up ball, the direction of rotation of ball is the same with last friction wheel, when lower friction wheel rotational speed is greater than last friction wheel rotational speed, obtains the spin-down ball, the direction of rotation of ball is the same with lower friction wheel.

It should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.

Claims

1. The utility model provides a table tennis service robot, includes the base, is located the tubbiness ball collector of base top, its characterized in that, be equipped with the power on the base, with the confession ball motor that the power electricity is connected, be equipped with in the ball collector and supply the ball blade, supply the ball blade with supply ball motor power to connect, be equipped with on the ball collector rather than the intercommunication and be T type tee bend pipy send the ball pipeline, send the pipe diameter of ball pipeline to be greater than the ball footpath of table tennis, send an opening of ball pipeline to be equipped with and supply the ball fan, send another opening of ball pipeline to be connected with the service robot rather than the intercommunication, be equipped with two brushless DC motor in the service robot, all be equipped with the friction pulley on two brushless DC motor's the rotor, two leave the clearance between the friction pulley and form the service robot, supply ball fan and two brushless DC motor all with the power electricity is connected.

2. The table tennis service robot of claim 1, further comprising a rocker arm positioned between the ball collector and the base, wherein a vertical first shaft is arranged on the lower surface of one end of the rocker arm, the first shaft is in power connection with a rocker arm motor arranged on the base, the rocker arm motor is electrically connected with the power supply, a vertical second shaft is arranged on the upper surface of the other end of the rocker arm, a groove is formed in the bottom of the ball collector, a slider is arranged in the groove, and the slider is connected with the second shaft to form a rocker arm slider mechanism for driving the ball collector to swing.

3. The table tennis serving machine of claim 2, wherein the ball supply blade is in power connection with the ball supply motor through a coupling, and a flat thrust needle bearing abutting against the bottom of the ball collector is arranged on the coupling and used for swinging the ball collector.

4. the table tennis service robot of claim 1, wherein the ball supply blade is a blade wheel, three blades are uniformly arranged on the blade wheel, the included angle between two adjacent blades is 120 degrees, and a blade groove for accommodating a table tennis ball is formed between two adjacent blades.

5. The table tennis serving machine of claim 4, wherein the number of the paddle wheels is two, the two paddle wheels are installed oppositely up and down, and the distance between the two paddle wheels is slightly larger than the diameter of the table tennis.

6. the table tennis service robot of claim 1, wherein the service head is composed of two steel plates, the two ends of the two steel plates are fixedly connected to form a channel for receiving table tennis balls between the two steel plates, one end of the channel is provided with a connecting pipe connected to the other opening of the ball feeding pipeline for table tennis balls to enter the service head, and the other end of the channel is provided with two brushless direct current motors.

7. The table tennis service robot of claim 6, wherein the connecting tube is plugged into another opening of the ball feeding tube.

8. the table tennis ball serving machine of claim 1, wherein the gap between the two friction wheels is slightly smaller than the diameter of the table tennis ball.

9. The table tennis ball serving machine of claim 1, wherein the friction wheel is a silicone wheel.