CN210612840U

CN210612840U - Mobile device and partner training machine

Info

Publication number: CN210612840U
Application number: CN201921002406.8U
Authority: CN
Inventors: 张昌荣; 刘羽祚; 王鹏; 潘晓川
Original assignee: Wuhan Polytechnic University
Current assignee: Wuhan Polytechnic University
Priority date: 2019-06-27
Filing date: 2019-06-27
Publication date: 2020-05-26
Anticipated expiration: 2029-06-27

Abstract

The utility model discloses a mobile device and partner training machine relates to table tennis training machine technical field. A mobile device includes a rotation mechanism and a swing mechanism. The rotating mechanism comprises a rotating base and a rotating support, and the rotating support is rotatably arranged on the rotating base around a first axis. The swing mechanism comprises a service bracket, the service bracket is rotatably arranged on the rotating support around a second axis, and the extending direction of the first axis is different from that of the second axis. This mobile device makes the service bracket can be rotatory around the second axis through setting up swing mechanism, and rotary mechanism makes swing mechanism drive the service bracket can be rotatory around the first axis, has increased the degree of freedom of service bracket to make the service device of installing on the service bracket have multiple degree of freedom, increased the motion state that the ball that sends can have, make it press close to real people's training more, increased user's training effect.

Description

Mobile device and partner training machine

Technical Field

The utility model relates to a table tennis training machine technical field particularly, relates to a mobile device and training mate machine.

Background

Along with the development of economy, the living standard of people is continuously improved, the popularization of various sports is popular, the demand of sports equipment is more and more large, the scientific and humanized design requirements of people on the sports equipment are more and more high, and the table tennis training machine is not only limited to the training of auxiliary professionals, but also is an auxiliary tool required by table tennis enthusiasts.

In real actual combat, the opponents can send balls in different directions, and the adjustable range of the service direction of the conventional table tennis service robot is very small, so that the service robot is inconsistent with the real combat and the training effect is influenced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mobile device can make the service robot who installs on it have multiple degree of freedom.

Another object of the present invention is to provide a training partner machine, which has the above-mentioned moving device.

The embodiment of the utility model is realized like this:

a mobile device comprises a rotating mechanism and a swinging mechanism;

the rotating mechanism comprises a rotating base and a rotating bracket, and the rotating bracket is rotatably arranged on the rotating base around a first axis;

the swing mechanism comprises a service bracket, the service bracket is rotatably arranged on the rotating support around a second axis, and the extending direction of the first axis is different from that of the second axis.

Optionally, the swing mechanism further includes a power input assembly, the serving cradle includes a hinge portion and a transmission portion, the hinge portion and the rotating bracket are hinged at the second axis, and the power input assembly can drive the transmission portion to swing around the second axis.

Optionally, the power input assembly includes a rotating wheel and an eccentric member that are fixedly connected, the eccentric member is eccentrically disposed with respect to the rotating wheel, and the transmission portion is provided with a sliding groove in sliding fit with the eccentric member.

Optionally, the mobile device further includes a lifting mechanism, the lifting mechanism includes a lifting base, a sliding member and a first lifting assembly, the sliding member includes a sliding portion and a supporting portion, the sliding portion is slidably disposed on the lifting base along a first direction, the supporting portion is fixedly connected to the rotating base, and the first lifting assembly is connected to the sliding member and is used for driving the sliding member to slide.

Optionally, the first lifting assembly comprises a lifting motor, a first rack and a first gear, wherein the first rack and the first gear are meshed with each other, the first rack extends in the first direction, one section of the first rack is fixedly connected with the lifting base, the other section of the first rack is meshed with the first gear, the lifting motor is in transmission connection with the first gear, the first gear is rotatably sleeved on a first rotating shaft, and the first rotating shaft is fixedly connected with the sliding part.

Optionally, the lifting base is provided with a guide groove extending along the first direction, and the sliding part is provided with a guide block matched with the guide groove; or the lifting base is provided with a guide block, and the sliding part is provided with a guide groove extending along the first direction.

Optionally, the lifting mechanism further includes a second lifting assembly, the first lifting assembly and the second lifting assembly are disposed at an interval on the peripheral wall of the sliding member, the second lifting assembly includes a second rack and a second gear engaged with each other, the second rack extends along the first direction, one section of the second rack is fixedly connected to the lifting base, the other section of the second rack is engaged with the second rack, the second gear is rotatably sleeved on a second rotating shaft, and the second rotating shaft is fixedly connected to the sliding member.

Optionally, the moving device further includes a moving mechanism, the moving mechanism includes a supporting component and a sliding seat, the sliding seat is slidably disposed on the supporting component along the second direction, and the sliding seat is fixedly connected to the lifting base.

Optionally, the support assembly includes a support frame and a guide rod, two ends of the guide rod are disposed on the support frame, and the sliding seat is provided with a guide hole matched with the guide rod.

A partner training machine comprises a ball serving device and the moving device, wherein the ball serving device is fixedly arranged on the ball serving bracket.

Compared with the prior art, the beneficial effects of the embodiment of the utility model provide a include, for example:

this mobile device makes the service bracket can be rotatory around the second axis through setting up swing mechanism, and rotary mechanism makes swing mechanism drive the service bracket can be rotatory around the first axis, has increased the degree of freedom of service bracket to make the service device of installing on the service bracket have multiple degree of freedom, increased the motion state that the ball that sends can have, make it press close to real people's training more, increased user's training effect.

The partner training machine moves by using the moving device, so that all the technical effects are achieved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of the partner training machine provided in this embodiment;

fig. 2 is a partial structural schematic view of the partner training machine provided in this embodiment;

FIG. 3 is a schematic structural view of a lifting mechanism and a portion of a moving mechanism of the moving device in FIG. 1;

FIG. 4 is a schematic structural view of the ball serving device and a portion of the moving device of FIG. 1;

FIG. 5 is a schematic structural diagram of a rotating mechanism and a swinging mechanism of the mobile device in FIG. 1;

fig. 6 is a partially enlarged schematic view at I in fig. 5.

Icon: 100-partner training machine; 200-a table tennis table; 10-a conveying device; 20-a serving device; 30-a mobile device; 31-a rotation mechanism; 311-a rotating base; 312-a rotating holder; 32-a swing mechanism; 321-a serving cradle; 3211-a hinge; 3212-a transmission part; 3213-a sliding groove; 322-a running wheel; 323-eccentric; 33-a lifting mechanism; 331-a lifting base; 332-a slide; 3321-sliding part; 3322-a support part; 333-lifting motor; 334-a first rack; 335-a first gear; 336-a guide block; 337-a second lifting assembly; 34-a moving mechanism; 341-sliding seat; 342-a support frame; 343-guide rods.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "first", "second", "third", etc. are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

The terms "upper", "lower", "left", "right", "inner", "outer", and the like refer to orientations or positional relationships based on the drawings, or the orientations or positional relationships that are conventionally used to place the products of the present invention, and are used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the term "vertical" does not require absolute perpendicularity between the components, but may be slightly inclined. "vertical" merely means that its direction is relatively more vertical and does not mean that the structure must be perfectly vertical, but may be slightly inclined.

In the description of the present invention, it is also to be understood that the terms "disposed," "mounted," "connected," and the like are intended to be construed broadly unless otherwise specifically indicated and limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Examples

Fig. 1 is a schematic structural diagram of the partner training machine 100 provided in this embodiment, and fig. 2 is a schematic partial structural diagram of the partner training machine 100 provided in this embodiment, please refer to fig. 1 and fig. 2.

The training aid 100 is provided at one end of the table tennis table 200 in the length direction, and can launch table tennis balls at the other end of the table tennis table 200, thereby allowing a trainer to practice the table tennis technique.

In the present embodiment, the partner training machine 100 includes a ball conveying device 10, a ball serving device 20, and a moving device 30. The ball conveying device 10 is used for orderly conveying table tennis balls to the ball serving device 20; the service device 20 is used for launching table tennis balls and can launch table tennis balls with different rotating directions; the moving device 30 is used for driving the ball serving device 20 to move, so as to launch the table tennis from different directions.

Referring to fig. 2 again, in the present embodiment, a moving device 30 capable of moving the serve device 20 is provided.

In the present embodiment, the moving device 30 includes a rotating mechanism 31, a swinging mechanism 32, a lifting mechanism 33, and a moving mechanism 34. As shown in fig. 2, an XYZ three-axis coordinate system is established, where the X-axis is along the width of the table tennis table 200, the Y-axis is along the length of the table tennis table 200, and the Z-axis is perpendicular to the table tennis table 200. The rotating mechanism 31 is used for rotating the service device 20 around the Z-axis direction, the swinging mechanism 32 is used for rotating the service device 20 around the X-axis direction, the lifting mechanism 33 is used for moving the service device 20 along the Z-axis direction, and the moving mechanism 34 is used for moving the service device 20 along the X-axis direction.

Therefore, the ball serving device 20 can obtain 4 degrees of freedom by arranging the driving mechanisms, so that the ball serving device 20 can emit balls inclined towards different directions at any position of the upper space at the edge of the table tennis table 200, the motion state of the emitted balls is increased, the emitted balls are closer to real training, and the training effect of a user is increased.

The moving mechanism 34 is described below.

The moving mechanism 34 is used to move the ball serving device 20 in the X-axis direction. The moving mechanism 34 includes a support assembly and a sliding seat 341. The sliding seat 341 is slidably disposed on the supporting component along the second direction.

Note that the second direction is a direction along the width direction of the table tennis table 200, i.e., the X-axis direction in fig. 2.

The supporting component comprises a supporting frame 342 and a screw rod, the supporting frame 342 is detachably and fixedly connected with the edge of the table tennis table 200, two ends of the screw rod are rotatably arranged on the supporting frame 342, and the sliding seat 341 is matched with the screw rod to form a screw rod nut pair.

Optionally, the support assembly further comprises a guide rod 343 for guiding the sliding seat 341. The guide rod 343 is parallel to the lead screw, the sliding seat 341 can slidably penetrate through the guide rod 343 along the second direction, the stability of the sliding seat 341 in sliding along the lead screw can be improved by arranging the guide rod 343, and the sliding seat 341 can be prevented from being inclined. The guide rod 343 can not only guide, also can alleviate the pressure of sliding seat 341 to the lead screw, can reduce the wearing and tearing to the lead screw, improves the life of lead screw.

The screw rod is driven to rotate by the second motor, so that the sliding seat 341 can move left and right along the X-axis direction.

The sliding base 341 is fixedly connected to the lifting base 331 of the lifting mechanism 33, so that the sliding base 341 drives the lifting mechanism 33 to move left and right along the X-axis direction.

The elevating mechanism 33 will be described below.

Fig. 3 is a schematic structural diagram of the lifting mechanism 33 and a part of the moving mechanism 34 of the moving device 30 in fig. 1, please refer to fig. 2 and fig. 3.

The elevating mechanism 33 is used to move the ball serving device 20 in the Z-axis direction. The lifting mechanism 33 includes a lifting base 331, a slider 332, and a first lifting assembly. The sliding seat 341 of the moving mechanism 34 is disposed on a side of the lifting base 331 away from the sliding member 332, and the lifting base 331 is fixedly connected above the sliding seat 341.

The sliding member 332 includes a sliding portion 3321 and a supporting portion 3322, the sliding portion 3321 is slidably disposed on the lifting base 331 along a first direction, and the first lifting assembly is configured to drive the sliding member 332 to slide along the first direction.

It should be noted that the first direction is a direction perpendicular to the surface of the table tennis table 200, i.e., a direction along the Z-axis in fig. 2.

The first lift assembly includes a first rack 334, a first gear 335, and a lift motor 333. The lift motor 333 is a third motor. The first rack 334 and the first gear 335 are engaged with each other. The first rack 334 extends in a first direction. One section of the bottom of the first rack 334 is fixedly connected with the lifting base 331 or the sliding base 341. The other section of the first rack 334 is engaged with the first gear 335. The third motor is in transmission connection with the first gear 335, the first gear 335 is rotatably sleeved on the first rotating shaft, and the first rotating shaft is fixedly connected with the sliding member 332.

Optionally, in this embodiment, in order to save the installation space and facilitate the installation of the first lifting assembly, in an implementation manner, the third motor is fixedly disposed on the sliding member 332, and an output shaft of the third motor drives the first gear 335 to rotate through the transmission assembly.

It is understood that in other embodiments of this embodiment, the first lifting assembly may also be, for example, but not limited to, a worm gear, a lead screw nut pair, or a hydraulic mechanism.

The lifting base 331 is provided with a guide groove extending along a first direction, and the sliding part 3321 is provided with a guide block 336 matched with the guide groove; or the lifting base 331 is provided with a guide block 336, and the sliding part 3321 is provided with a guide groove extending along the first direction.

Alternatively, a plurality of guide blocks 336 and guide grooves may be fitted to each other on the sliding portion 3321 and the lifting base 331 to increase the guiding effect.

Through setting up guide block 336 and the guide way of leading to slider 332 lift, can guarantee that slider 332 goes up and down more steadily, the crooked and rotation around self center pin of restriction lift has guaranteed the stationarity of going up and down.

The lift mechanism 33 further includes a second lift assembly 337. The first lifting assembly 337 and the second lifting assembly 337 are spaced apart from each other around the outer circumference of the slider 332. Optionally, the first and second lift assemblies 337 are 180 degrees apart.

The second lifting component 337 includes a second rack and a second gear engaged with each other, the second rack is parallel to the first rack 334, one section of the second rack is fixedly connected to the lifting base 331 or the sliding base 341, another section of the second rack is engaged with the second rack, the second gear is rotatably sleeved on the second rotating shaft, and the second rotating shaft is fixedly connected to the sliding member 332.

Lifting principle: when lifting is needed, the third motor drives the first gear 335 to rotate around the first rotating shaft, the first gear 335 receives a torque rotating relative to the first rack 334, so that the first gear 335 ascends or descends along the first rack 334 (ascending or descending is controlled by forward rotation or reverse rotation of the motor), and when the first gear 335 ascends or descends, the first rotating shaft is driven to ascend or descend, and then the sliding member 332 fixedly connected with the first rotating shaft is driven to lift.

The sliding member 332 can drive the second shaft fixedly connected therewith to move up and down, and the second shaft can drive the second gear sleeved on the second shaft to move up and down along the second rack.

It is understood that the second lifting assembly 337 may further include a fourth motor for driving the second gear to rotate, and the third motor and the fourth motor are controlled by the motor controller to rotate forward or backward at the same time, so that the sliding member 332 is lifted and lowered by the first gear 335 and the second gear.

The supporting portion 3322 on the top of the sliding member 332 is fixedly connected to the rotating base 311 of the rotating mechanism 31, so that the lifting mechanism 33 can drive the rotating mechanism 31 to lift and lower when lifting.

The rotation mechanism 31 is described below.

The rotating mechanism 31 is used to rotate the ball serving device 20 about the Z-axis direction. Fig. 4 shows a schematic structural diagram of the rotating mechanism 31 and the lifting mechanism 33 of the moving device 30 in fig. 1, please refer to fig. 2 and fig. 4.

The rotation mechanism 31 includes a rotation base 311, a rotation bracket 312, and a rotation member. The rotary base 311 is fixedly disposed on the top of the slider 332 of the elevating mechanism 33.

The rotating member is rotatably disposed on the rotating base 311 about a first axis. The rotating member is fixedly coupled to a first end of the rotating bracket 312. The rotation of the rotating member will drive the rotating bracket 312 to rotate.

It should be noted that the first axis is the Z-axis in fig. 2, i.e., the direction perpendicular to the playing surface of the table tennis table 200.

In one embodiment of this embodiment, the rotating member is a steering engine. The steering gear rotates to drive the rotating bracket 312 to rotate around the first axis.

The steering engine is mainly composed of a shell, a circuit board, a driving motor, a speed reducer and a position detection element. The working principle is that the receiver sends a signal to the steering engine, the IC on the circuit board drives the coreless motor to start rotating, power is transmitted to the swing arm of the steering engine through the reduction gear, the swing arm drives other parts fixedly connected with the swing arm to rotate when rotating, and meanwhile, the position detector sends back the signal to judge whether the positioning is achieved. Because the steering engine belongs to prior art, can purchase conveniently on the net, no longer describe here.

It is understood that in other embodiments of the present embodiment, the rotating bracket 312 may be configured to rotate with damping relative to the rotating base 311 without using a rotating member, and the rotating angle of the rotating bracket 312 may be manually adjusted by a user.

The following describes the swing mechanism 32, and fig. 5 is a schematic structural diagram of the rotating mechanism 31 and the swing mechanism 32 of the moving device 30 in fig. 1, please refer to fig. 2 and fig. 5.

The swing mechanism 32 is used to rotate the ball serving device 20 about the X-axis direction. The swing mechanism 32 includes a service bracket 321 and a power input assembly.

The service bracket 321 is used to fix the service device 20. The service bracket 321 is rotatably disposed at a second end of the rotating bracket 312 about a second axis. From fig. 5, it can be seen that the service bracket 321 is articulated with the swivel support 312 by a second axis. The second axis extends in the direction of the X-axis in fig. 2, which is also the width of the table tennis table 200.

The service bracket 321 includes a hinge portion 3211 and a transmission portion 3212, the hinge portion 3211 is hinged to the rotating bracket 312, and the transmission portion 3212 is provided with a sliding groove 3213.

The power input assembly is used to drive the swing of the service carrier 321. The power input assembly includes a fixedly coupled rotating wheel 322 and an eccentric 323. Fig. 6 is an enlarged partial view of a portion at I in fig. 5, please refer to fig. 6. The eccentric member 323 is slidably fitted to the sliding groove 3213, and the eccentric member 323 is eccentrically disposed with respect to the rotating wheel 322. The rotating wheel 322 is in transmission connection with a fifth motor, the fifth motor drives the rotating wheel 322 to rotate, so as to drive an eccentric part 323 on the rotating wheel 322 to rotate, and when the eccentric part 323 rotates, the eccentric part 323 can slide along the sliding groove and push the sliding groove 3213 of the transmission part 3212 to swing, so that the ball serving bracket 321 can swing around the second axis.

It is understood that, in other embodiments of this embodiment, the fifth motor may not be provided, and the rotation of the rotating wheel 322 is set to a rotation with damping, so that the rotating wheel can maintain the position at that time when rotating to a certain angle, and can be adjusted manually by the user.

When the service bracket 321 swings around the second axis in pitch, the service device 20 fixed on the service bracket 321 will swing in pitch.

The working principle and the beneficial effects of the mobile device 30 provided by the embodiment are as follows:

the moving device 30 includes a rotating mechanism 31, a swinging mechanism 32, a lifting mechanism 33, and a moving mechanism 34. The rotating mechanism 31 is used for rotating the service device 20 around the Z-axis direction, the swinging mechanism 32 is used for rotating the service device 20 around the X-axis direction, the lifting mechanism 33 is used for moving the service device 20 along the Z-axis direction, and the moving mechanism 34 is used for moving the service device 20 along the X-axis direction.

It should be understood that, in order to facilitate clear understanding of the technical solution of the present invention, the table tennis ball is taken as an example for illustration in this embodiment, and the training partner 100 can also be applied to other balls, such as toy balls.

It should be noted that, in the case of conflict, the features in the embodiments of the present invention may be combined with each other.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mobile device is characterized by comprising a rotating mechanism and a swinging mechanism;

2. The mobile device according to claim 1, wherein the swing mechanism further comprises a power input assembly, the service bracket comprises a hinged portion and a transmission portion, the hinged portion and the rotating bracket are hinged at the second axis, and the power input assembly can drive the transmission portion to swing around the second axis.

3. The mobile device according to claim 2, wherein the power input assembly comprises a rotating wheel and an eccentric member fixedly connected with each other, the eccentric member is eccentrically disposed with respect to the rotating wheel, and the transmission portion is provided with a sliding groove in sliding fit with the eccentric member.

4. The mobile device according to claim 1, further comprising a lifting mechanism, wherein the lifting mechanism comprises a lifting base, a sliding member and a first lifting assembly, the sliding member comprises a sliding portion and a supporting portion, the sliding portion is slidably disposed on the lifting base along a first direction, the supporting portion is fixedly connected to the rotating base, and the first lifting assembly is connected to the sliding member and is used for driving the sliding member to slide.

5. The mobile device according to claim 4, wherein the first lifting assembly includes a lifting motor, and a first rack and a first gear engaged with each other, the first rack extends along the first direction, one section of the first rack is fixedly connected to the lifting base, the other section of the first rack is engaged with the first gear, the lifting motor is in transmission connection with the first gear, the first gear is rotatably sleeved on a first rotating shaft, and the first rotating shaft is fixedly connected to the sliding member.

6. The moving device as claimed in claim 4, wherein the lifting base is provided with a guide groove extending along the first direction, and the sliding part is provided with a guide block matched with the guide groove; or

The lifting base is provided with a guide block, and the sliding part is provided with a guide groove extending along the first direction.

7. The mobile device according to claim 4, wherein the lifting mechanism further comprises a second lifting assembly, the first lifting assembly and the second lifting assembly are disposed at a periphery wall of the sliding member at an interval, the second lifting assembly comprises a second rack and a second gear engaged with each other, the second rack extends along the first direction, one section of the second rack is fixedly connected with the lifting base, the other section of the second rack is engaged with the second rack, the second gear is rotatably sleeved on a second rotating shaft, and the second rotating shaft is fixedly connected with the sliding member.

8. The mobile device according to any one of claims 4 to 7, further comprising a moving mechanism, wherein the moving mechanism comprises a support assembly and a sliding seat, the sliding seat is slidably disposed on the support assembly along the second direction, and the sliding seat is fixedly connected to the lifting base.

9. The mobile device as claimed in claim 8, wherein the support assembly comprises a support frame and a guide rod, two ends of the guide rod are disposed on the support frame, and the sliding seat is provided with a guide hole engaged with the guide rod.

10. A partner training machine, comprising a serving device fixedly arranged to the serving cradle and a moving device according to any one of claims 1 to 9.