CN212038913U - Table tennis service robot - Google Patents
Table tennis service robot Download PDFInfo
- Publication number
- CN212038913U CN212038913U CN202020319835.4U CN202020319835U CN212038913U CN 212038913 U CN212038913 U CN 212038913U CN 202020319835 U CN202020319835 U CN 202020319835U CN 212038913 U CN212038913 U CN 212038913U
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- motor
- conveying pipeline
- ball
- cylindrical gear
- table tennis
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Abstract
The utility model relates to the technical field of sports equipment, and provides a table tennis service robot, which comprises a frame, a table tennis storage box, a conveying unit and a launching unit; the bottom of the ball storage box is provided with a ball outlet; the conveying unit includes: the device comprises a screw, a first motor, a coupling, a ball falling pipeline, a first conveying pipeline, a second conveying pipeline, a third conveying pipeline and a fourth conveying pipeline which are sequentially communicated; the ball falling pipeline is communicated with a ball outlet of the ball storage box; the screw rod starting end is positioned at the bottom of the ball falling pipeline, and the screw rod terminal end is communicated with the first conveying pipeline; the first motor is arranged in the rack and is connected with the shaft end of the screw rod through the coupler, the screw rod is driven to send table tennis balls into the first conveying pipeline, the first conveying pipeline is located in the rack and communicated with the second conveying pipeline through the first connecting sleeve, and the third conveying pipeline is a bent pipe and communicated with the fourth conveying pipeline. The utility model discloses can improve service performance, reduce cost, make it can satisfy different user demands.
Description
Technical Field
The utility model relates to a sports equipment technical field especially relates to a table tennis service robot.
Background
The domestic table tennis service robot mainly has several aspects: one is a hammer type pitching machine, the other is a pneumatic pitching machine, and the other is a wheel type pitching machine. The impact type ball serving machine has various design schemes, most commonly, a swing rod is driven by a cam to impact the table tennis falling into a ball serving port, and the ball serving mode has single performance and is inconvenient to control and is gradually eliminated. The air-pressure type ball serving machine uses an air compressor to shoot table tennis balls. The ball is loaded into the bottom of the barrel and held in place by a narrow opening having a diameter slightly smaller than the diameter of the ball. When the compressed air pushes the table tennis ball through the narrow opening, the ball is launched. The disadvantage is that the noise is very loud and does not provide high performance. The single-wheel driving service robot has the following disadvantages: if the speed of the ball is high, the ball rotates strongly at the same time, and if the speed is low, the ball rotates weakly at the same time. This is completely different from the actual combat play of people.
Therefore, it is necessary to design a simple, practical and automatic table tennis serving machine which can simulate manual serving and realize random serving effect.
SUMMERY OF THE UTILITY MODEL
The utility model discloses mainly solve prior art's table tennis service equipment service law, can not simulate technical problem such as artifical service, provide a table tennis service robot to reach improvement service performance, reduce cost, improve the weak point of current service robot, make it can satisfy different user demands.
The utility model provides a table tennis service robot, include: the device comprises a rack (1), and a ball storage box (3), a conveying unit and a transmitting unit which are respectively arranged on the rack (1);
the bottom of the ball storage box (3) is provided with a ball outlet;
the conveying unit includes: the device comprises a screw (19), a first motor (23), a coupling (22), a ball dropping pipeline (26), a first conveying pipeline (18), a second conveying pipeline (4), a third conveying pipeline (6) and a fourth conveying pipeline (7), which are communicated in sequence; the ball falling pipeline (26) is communicated with a ball outlet of the ball storage box (3); the initial end of the screw (19) is positioned at the bottom of the ball falling pipeline (26), and the terminal end of the screw (19) is communicated with the first conveying pipeline (18); the thread clearance of the screw (19) is larger than the diameter of the table tennis ball; the table tennis ball conveying device comprises a rack (1), a first motor (23), a first conveying pipeline (18), a second conveying pipeline (4), a first connecting sleeve (17), a third conveying pipeline (6) and a fourth conveying pipeline (7), wherein the first motor (23) is arranged in the rack (1), the first motor (23) is connected with the shaft end of a screw rod (19) through a coupler (22) and drives the screw rod (19) to convey table tennis balls into the first conveying pipeline (18), the first conveying pipeline (18) is located in the rack (1) and is communicated with the second conveying pipeline (4) through the first connecting sleeve (17), the first connecting sleeve (17) is fixed on the rack (1), and the third conveying pipeline (6) is a bent pipe and is communicated with the;
the transmitting unit includes: a rotating mechanism and a friction ball serving device; the rotating mechanism includes: a second connecting sleeve (13), a third motor (8), a fifth cylindrical gear (9) and a sixth cylindrical gear (10); the third motor (8) is fixed on the shoulder of the fourth conveying pipeline (7), the second connecting sleeve (13) connects the fourth conveying pipeline (7) and the launching tube (12) together and is fixed on the shoulder of the fourth conveying pipeline (7), and the fifth cylindrical gear (9) is fixed on the output shaft of the third motor (8) and is meshed with the sixth cylindrical gear (10); the friction serve device includes: the device comprises a transmitting tube (12), two friction wheels (11), two motor bases (28) and two fourth motors (27); a sixth cylindrical gear (10) is arranged on the launching tube (12); the launching tube (12) is provided with a friction wheel (11) at the upper part and the lower part respectively, the friction wheel (11) is embedded into arc-shaped grooves which are respectively arranged at the upper part and the lower part of the launching tube (12), the friction wheel (11) is connected with a corresponding fourth motor (27), and the fourth motor (27) is fixed on the launching tube (12) through a motor base (28).
Preferably, a poking rod (2) is arranged at a ball outlet at the bottom of the ball storage box (3); the shifting rod (2) is connected with the screw rod (19) through a transmission mechanism.
Preferably, the transmission mechanism includes: a first cylindrical gear (21), a second cylindrical gear (20), a first bevel gear (24) and a second bevel gear (25); the first cylindrical gear (21) is fixed on a screw rod (19) shaft and meshed with a second cylindrical gear (20), the second cylindrical gear (20) is coaxially connected with a first bevel gear (24), the first bevel gear (24) is meshed with a second bevel gear (25), and the second bevel gear (25) is coaxially connected with the shifting rod (2).
Preferably, the method further comprises the following steps: a rocking mechanism;
the rocking mechanism includes: the device comprises a bracket (16), a second motor (15), a third cylindrical gear (14) and a fourth cylindrical gear (5); the support (16) is fixed on the rack (1), the second motor (15) is fixed on the support (16), the third cylindrical gear (14) is fixed on an output shaft of the second motor (15) and meshed with the fourth cylindrical gear (5), and the fourth cylindrical gear (5) is fixed on the second conveying pipeline (4).
Preferably, the second motor (15) and the third motor (8) are stepping motors.
Preferably, the method further comprises the following steps: a control panel;
the first motor (23), the second motor (15), the third motor (8) and the fourth motor (27) are respectively electrically connected with the control board.
The utility model provides a pair of table tennis service robot, the table tennis is put into the storage box, stir through the driving lever and prevent that the table tennis from blockking up at a ball outlet, make it fall into the ball dropping pipe way smoothly, first motor among the conveying unit drives screw motion, send the table tennis into first pipeline in proper order, the second pipeline, third pipeline and fourth pipeline, and then send into the transmitting unit, and drive wabbler mechanism by the second motor and change the service direction, the transmitting unit drives the different friction pulley of rotational speed through two fourth motors, leave the machine to the table tennis transmission through the friction, and can change the transmitting tube rotation angle by rotary mechanism, launch various balls to soon. The utility model discloses can realize automatic service to can change service speed, service dynamics, service spiral to and angle, improve the effect of simulation manual service, thereby improve the accuracy nature and the reliability of random service effect.
Drawings
FIG. 1 is a schematic structural view of a table tennis service robot of the present invention;
FIG. 2 is a schematic view of the shift lever;
FIG. 3 is a schematic view of the screw structure;
fig. 4 is a schematic structural view of the friction service device.
Reference numerals: 1-a frame, 2-a driving lever, 3-a ball storage box, 4-a second conveying pipeline, 5-a fourth cylindrical gear, 6-a third conveying pipeline, 7-a fourth conveying pipeline, 8-a third motor, 9-a fifth cylindrical gear and 10-a sixth cylindrical gear; 11-friction wheel, 12-launching tube, 13-second connecting sleeve, 14-third cylindrical gear, 15-second motor, 16-bracket, 17-first connecting sleeve, 18-first conveying pipeline, 19-screw, 20-second cylindrical gear, 21-first cylindrical gear, 22-coupler, 23-first motor, 24-first bevel gear, 25-second bevel gear, 26-falling ball pipeline, 27-fourth motor and 28-motor base.
Detailed Description
In order to make the technical problem solved by the present invention, the technical solution adopted by the present invention and the technical effect achieved by the present invention clearer, the present invention will be further described in detail with reference to the accompanying drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present invention are shown in the drawings.
Fig. 1 is a schematic structural view of the table tennis service robot provided by the present invention. As shown in fig. 1, the embodiment of the utility model provides a table tennis service robot, include: the device comprises a frame 1, and a ball storage box 3, a conveying unit and a launching unit which are respectively arranged on the frame 1.
The bottom of the ball storage box 3 is provided with a ball outlet. A ball outlet at the bottom of the ball storage box 3 is provided with a shifting lever 2, and the shifting lever 2 is connected with a screw rod 19 through a transmission mechanism and is driven by a first motor 23. The transmission mechanism includes: a first cylindrical gear 21, a second cylindrical gear 20, a first bevel gear 24, and a second bevel gear 25; the first cylindrical gear 21 is fixed on the shaft of the screw rod 19 and meshed with the second cylindrical gear 20, the second cylindrical gear 20 is coaxially connected with the first bevel gear 24, the first bevel gear 24 is meshed with the second bevel gear 25, and the second bevel gear 25 is coaxially connected with the shift lever 2. Fig. 2 is a schematic structural view of the shift lever. As shown in fig. 2, the function of the driving lever 2 is to stir the table tennis balls in the ball storage box 3 to prevent the ball outlet from being blocked, so that the table tennis balls fall into the conveying unit by the self gravity.
The conveying unit includes: the device comprises a screw 19, a first motor 23, a coupling 22, a ball dropping pipeline 26, a first conveying pipeline 18, a second conveying pipeline 4, a third conveying pipeline 6 and a fourth conveying pipeline 7 which are communicated in sequence; the ball falling pipeline 26 is communicated with the ball outlet of the ball storage box 3. The initial end of the screw rod 19 is positioned at the bottom of the ball dropping pipeline 26, the terminal end of the screw rod is communicated with the first conveying pipeline 18, and the thread clearance of the screw rod 19 is larger than the diameter of the table tennis ball, so that the table tennis ball can smoothly pass through the screw rod; the first motor 23 is arranged in the frame 1 and is controlled by a PLC, and the number of serve balls in unit time can be controlled by controlling the rotating speed of the first motor 23. The first motor 23 is connected to the shaft end of the screw 19 via a coupling 22. Fig. 3 is a schematic view of the structure of the screw. As shown in fig. 3, the screw rod 19 is driven by the first motor 23 to feed the table tennis balls into the first conveying pipe 18. First pipeline 18 is located frame 1 to communicate through first adapter sleeve 17 with second pipeline 4, first adapter sleeve 17 is fixed on frame 1, third pipeline 6 is the return bend, with second pipeline 4 and fourth pipeline 7 intercommunication.
The table tennis service robot of this embodiment still includes: a rocking mechanism, the rocking mechanism comprising: a bracket 16, a second motor 15, a third cylindrical gear 14 and a fourth cylindrical gear 5; the support 16 is fixed on the frame 1, the second motor 15 is fixed on the support 16, the second motor 15 is a stepping motor and is controlled by a PLC, and the angle of the serve can be controlled by controlling a pulse signal of the second motor 15. The third cylindrical gear 14 is fixed on an output shaft of the second motor 15 and is meshed with the fourth cylindrical gear 5, and the fourth cylindrical gear 5 is fixed on the second conveying pipeline 4.
The transmitting unit includes: a rotating mechanism and a friction ball serving device; the rotating mechanism includes: a second connecting sleeve 13, a third motor 8, a fifth cylindrical gear 9 and a sixth cylindrical gear 10; the third motor 8 is fixed on the shoulder of the fourth conveying pipeline 7, and the third motor 8 is a stepping motor and is controlled by a PLC. The second connecting sleeve 13 connects the fourth conveying pipeline 7 and the launching tube 12 together and is fixed on the shoulder of the fourth conveying pipeline 7, and the fifth cylindrical gear 9 is fixed on the output shaft of the third motor 8 and is meshed with the sixth cylindrical gear 10. The friction serve device includes: the launching tube 12, the two friction wheels 11, the two motor bases 28 and the two fourth motors 27; the launching tube 12 is provided with a sixth spur gear 10. Fig. 4 is a schematic structural view of the friction service device. As shown in fig. 4, the launching tube 12 is provided with a friction wheel 11 at the top and bottom, the friction wheel 11 is embedded into the arc-shaped grooves respectively formed at the top and bottom of the launching tube 12, the friction wheel 11 is connected with a corresponding fourth motor 27, the fourth motor 27 is fixed on the launching tube 12 through a motor base 28, and the fourth motor 27 is controlled by a PLC. The friction ball serving device and the rotating mechanism are matched with each other, and balls with various rotating directions can be sent out. When the rotating mechanism drives the launching tube 12 to rotate left by 45 degrees, if the fourth motor 27 on the left side rotates, the upward rotating ball on the left side can be launched; if the right fourth motor 27 rotates, the right spin-down ball can be launched; by controlling the third motor 8 to rotate by different angles and controlling the fourth motor 27 to rotate, it is possible to realize a plurality of kinds of spin directions of the ball.
The table tennis service robot of this embodiment still includes: a control panel; the first motor 23, the second motor 15, the third motor 8, and the fourth motor 27 are electrically connected to the control board, respectively. The second motor 15 and the third motor 8 are stepping motors. The control board is provided with a PLC, and the first motor 23, the second motor 15, the third motor 8 and the fourth motor 27 are controlled by the PLC.
The utility model discloses table tennis service robot's theory of operation: the table tennis is put into the storage box 3, the first motor 23 is started to drive the poking rod 2 to poke to prevent the table tennis from being blocked at the ball outlet, so that the table tennis smoothly falls into the ball falling pipeline 26, the first motor 23 in the conveying unit drives the screw rod 19 to move in a selected speed mode, the table tennis is conveyed into the first conveying pipeline 18, the second conveying pipeline 4, the third conveying pipeline 6, the fourth conveying pipeline 7 and the launching tube 11, the table tennis is sequentially arranged in a row, and the ball at the back pushes the ball at the front into the launching unit. The second motor 15 of the swing mechanism drives the third cylindrical gear 14 to rotate by a certain angle, and the third cylindrical gear 14 is meshed with the fourth cylindrical gear 5 on the second conveying pipeline 4 to further drive the second conveying pipeline 4 to rotate by a certain angle, so that the launching unit swings at a certain angle, and the angle of the launching unit is changed. A third motor 8 of the rotating mechanism drives a sixth cylindrical gear 10 on a launching tube 12 to rotate through a fifth cylindrical gear 9, and then the launching tube 12 is driven to rotate, so that balls can be sent in multiple rotating directions. The launching unit drives the friction wheels 11 with different rotating speeds through two fourth motors 27, and the table tennis balls are launched out of the machine through friction. The fourth motor 27 in the launching unit also drives the two friction wheels 11 to rotate in a set speed mode, and the table tennis balls are launched out under the action of friction force. The rotating speed of the first motor 23 is controlled through the PLC, the number of serve balls in unit time can be controlled, the serving angle can be controlled through controlling the rotating angle of the second motor 15, and the serving rotating direction and force can be controlled through controlling the rotating angle of the third motor 8 and the starting, stopping and rotating speeds of the two fourth motors.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or some or all of the technical features may be equivalently replaced, without substantially departing from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A table tennis service robot, comprising: the device comprises a rack (1), and a ball storage box (3), a conveying unit and a transmitting unit which are respectively arranged on the rack (1);
the bottom of the ball storage box (3) is provided with a ball outlet;
the conveying unit includes: the device comprises a screw (19), a first motor (23), a coupling (22), a ball dropping pipeline (26), a first conveying pipeline (18), a second conveying pipeline (4), a third conveying pipeline (6) and a fourth conveying pipeline (7), which are communicated in sequence; the ball falling pipeline (26) is communicated with a ball outlet of the ball storage box (3); the initial end of the screw (19) is positioned at the bottom of the ball falling pipeline (26), and the terminal end of the screw (19) is communicated with the first conveying pipeline (18); the thread clearance of the screw (19) is larger than the diameter of the table tennis ball; the table tennis ball conveying device comprises a rack (1), a first motor (23), a first conveying pipeline (18), a second conveying pipeline (4), a first connecting sleeve (17), a third conveying pipeline (6) and a fourth conveying pipeline (7), wherein the first motor (23) is arranged in the rack (1), the first motor (23) is connected with the shaft end of a screw rod (19) through a coupler (22) and drives the screw rod (19) to convey table tennis balls into the first conveying pipeline (18), the first conveying pipeline (18) is located in the rack (1) and is communicated with the second conveying pipeline (4) through the first connecting sleeve (17), the first connecting sleeve (17) is fixed on the rack (1), and the third conveying pipeline (6) is a bent pipe and is communicated with the;
the transmitting unit includes: a rotating mechanism and a friction ball serving device; the rotating mechanism includes: a second connecting sleeve (13), a third motor (8), a fifth cylindrical gear (9) and a sixth cylindrical gear (10); the third motor (8) is fixed on the shoulder of the fourth conveying pipeline (7), the second connecting sleeve (13) connects the fourth conveying pipeline (7) and the launching tube (12) together and is fixed on the shoulder of the fourth conveying pipeline (7), and the fifth cylindrical gear (9) is fixed on the output shaft of the third motor (8) and is meshed with the sixth cylindrical gear (10); the friction serve device includes: the device comprises a transmitting tube (12), two friction wheels (11), two motor bases (28) and two fourth motors (27); a sixth cylindrical gear (10) is arranged on the launching tube (12); the launching tube (12) is provided with a friction wheel (11) at the upper part and the lower part respectively, the friction wheel (11) is embedded into arc-shaped grooves which are respectively arranged at the upper part and the lower part of the launching tube (12), the friction wheel (11) is connected with a corresponding fourth motor (27), and the fourth motor (27) is fixed on the launching tube (12) through a motor base (28).
2. The table tennis service robot of claim 1, wherein a poking rod (2) is arranged at a ball outlet at the bottom of the ball storage box (3); the shifting rod (2) is connected with the screw rod (19) through a transmission mechanism.
3. The table tennis ball serving machine of claim 2, wherein the transmission mechanism comprises: a first cylindrical gear (21), a second cylindrical gear (20), a first bevel gear (24) and a second bevel gear (25); the first cylindrical gear (21) is fixed on a screw rod (19) shaft and meshed with a second cylindrical gear (20), the second cylindrical gear (20) is coaxially connected with a first bevel gear (24), the first bevel gear (24) is meshed with a second bevel gear (25), and the second bevel gear (25) is coaxially connected with the shifting rod (2).
4. The table tennis service robot of claim 1, further comprising: a rocking mechanism;
the rocking mechanism includes: the device comprises a bracket (16), a second motor (15), a third cylindrical gear (14) and a fourth cylindrical gear (5); the support (16) is fixed on the rack (1), the second motor (15) is fixed on the support (16), the third cylindrical gear (14) is fixed on an output shaft of the second motor (15) and meshed with the fourth cylindrical gear (5), and the fourth cylindrical gear (5) is fixed on the second conveying pipeline (4).
5. Table tennis serving machine according to claim 4, wherein the second motor (15) and the third motor (8) are stepper motors.
6. The table tennis service robot of claim 5, further comprising: a control panel;
the first motor (23), the second motor (15), the third motor (8) and the fourth motor (27) are respectively electrically connected with the control board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020319835.4U CN212038913U (en) | 2020-03-16 | 2020-03-16 | Table tennis service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020319835.4U CN212038913U (en) | 2020-03-16 | 2020-03-16 | Table tennis service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212038913U true CN212038913U (en) | 2020-12-01 |
Family
ID=73531196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020319835.4U Expired - Fee Related CN212038913U (en) | 2020-03-16 | 2020-03-16 | Table tennis service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212038913U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112619096A (en) * | 2020-12-23 | 2021-04-09 | 衢州学院 | Ball dispenser for volleyball |
| CN113679098A (en) * | 2021-09-08 | 2021-11-23 | 湖北中烟工业有限责任公司 | Device is implanted to cigarette filter rod blasting pearl level |
| CN114949811A (en) * | 2022-04-25 | 2022-08-30 | 丽水学院 | Special training device for basketball pass |
-
2020
- 2020-03-16 CN CN202020319835.4U patent/CN212038913U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112619096A (en) * | 2020-12-23 | 2021-04-09 | 衢州学院 | Ball dispenser for volleyball |
| CN112619096B (en) * | 2020-12-23 | 2022-03-04 | 衢州学院 | Ball dispenser for volleyball |
| CN113679098A (en) * | 2021-09-08 | 2021-11-23 | 湖北中烟工业有限责任公司 | Device is implanted to cigarette filter rod blasting pearl level |
| CN113679098B (en) * | 2021-09-08 | 2023-10-24 | 湖北中烟工业有限责任公司 | Cigarette filter stick explosive bead horizontal implantation device |
| CN114949811A (en) * | 2022-04-25 | 2022-08-30 | 丽水学院 | Special training device for basketball pass |
| CN114949811B (en) * | 2022-04-25 | 2024-04-30 | 丽水学院 | Special trainer of basketball pass |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201201 Termination date: 20210316 |