CN2917710Y - Table tennis service robot - Google Patents
Table tennis service robot Download PDFInfo
- Publication number
- CN2917710Y CN2917710Y CN 200620060924 CN200620060924U CN2917710Y CN 2917710 Y CN2917710 Y CN 2917710Y CN 200620060924 CN200620060924 CN 200620060924 CN 200620060924 U CN200620060924 U CN 200620060924U CN 2917710 Y CN2917710 Y CN 2917710Y
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- China
- Prior art keywords
- toss
- gear
- table tennis
- losing
- ball
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- Expired - Lifetime
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- 230000005540 biological transmission Effects 0.000 claims description 24
- 210000003813 Thumb Anatomy 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 8
- 230000001360 synchronised Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 3
- 238000004088 simulation Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
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Abstract
The utility model is a new robot ping-pong service machine which simulates the features of human service with the ball-throwing mechanism and the ball-hitting mechanism equaling to the right and left hand of human. The utility model performs the service process by throwing the ball with ball-throwing mechanism and then hit the ball with ball-hitting mechanism and the can realize spot service and service with different directions through the operation of swinging mechanism to improve the catching ability of exerciser. The utility model can be used for exercisers with different ability.
Description
[technical field]
The utility model relates to a kind of table tenning ball servicing machine, refers in particular to the table tenning ball servicing machine of robot formula.
[background technology]
The structure of the current table tenning ball servicing machine that we are seen is so basically: it is by two motor-drive motors and go out ball motor and come realization work, wherein the table tennis that will store up on the one hand in the cage of the drive motors on the service robot base is transported to the top of the pipe of losing by the bottom of the pipe of losing, and swings the past different direction of the pipe of losing by wabbler mechanism on the other hand and goes out ball; The table tennis of managing in the top of losing goes out ball with ball from the mouth of pipe by friction pulley by the ball motor that goes out that is installed on the pipe top of losing, and so just can realize the purpose of serving a ball and playing ball to the practitioner.But this class table tenning ball servicing machine is mechanical purely, and it lacks interesting, and is used when being the training athlete to specialty basically, be not suitable for the beginner especially children use.
[summary of the invention]
The purpose of this utility model is to have overcome the deficiencies in the prior art, and a kind of new structure, interesting strong table tennis ball serving robot are provided.
The purpose of this utility model is achieved in that
A kind of table tennis ball serving robot, include the drive motors on support and the support, in this support, be provided with the ball groove, one end of this ball groove is connected with the storage cage that is positioned at the support top by the falling sphere road, the pipe of losing on the other end and the support is connected, this drive motors is connected by the bar of dialling that gear train drives respectively in thumb wheel and this storage cage in this ball groove, it is characterized in that: this drive motors also is connected with power transmission shaft on the support by this gear train, this power transmission shaft is connected with kicking machine with the toss mechanism that is synchronized with the movement respectively by transmission mechanism, described toss mechanism and kicking machine are separately fixed on the center bearing bracket, described center bearing bracket covers on the pipe top of losing, being provided with the hollow arm that communicates with the ball mouth of the pipe of losing on this center bearing bracket is connected, this arm toss mouth is positioned at the place ahead of center bearing bracket, table tennis at arm toss mouth place contacts with the toss member of this toss mechanism, the place ahead that the movable hand of this kicking machine is positioned at this center bearing bracket with and the batting end be positioned at the top of this toss member, the racket on the described activity forehand hit end can just hit the table tennis of being dished out by toss mechanism when action.
Aforesaid table tennis ball serving robot, it is characterized in that: described transmission mechanism includes central gear, two synchromesh gears that are meshed with this central gear that are enclosed within on this pipe outer wall of losing, are meshed with gear on this power transmission shaft, wherein a synchronous gear and being used to drives coaxial connection of cam of this kicking machine action, and another synchromesh gear is connected with the cam driving of toss mechanism by the pair of straight bevel gear of engagement.
Aforesaid table tennis ball serving robot, it is characterized in that: described kicking machine includes cam, trisquare connecting rod, movable hand, racket, spring and is installed in fixed arm on the center bearing bracket, described cam is connected with the synchromesh gear of transmission mechanism is coaxial, one end of described trisquare connecting rod can contact with this cam, rotating fulcrum after the other end is fixedlyed connected with an end of movable hand on fixed arm rotates, the other end of this activity hand is connected with the handle portion of racket, at trisquare connecting rod and the movable back-moving spring that they are resetted that is provided with on hand.
Aforesaid table tennis ball serving robot is characterized in that: described toss mechanism includes the connecting rod of the cam coaxial with driven straight bevel gear, sliding motion, respectively around first lever, hook hinge and second lever and the toss member of separately rotating fulcrum swing; Described cam, connecting rod, first lever, hook hinge and second lever successively between successively contact connect, the other end of this second lever is fixedlyed connected with the toss member, described first and second lever, is connected with back-moving spring respectively.
Aforesaid table tennis ball serving robot, it is characterized in that: described transmission mechanism also is connected with the wabbler mechanism that is used for driving the center bearing bracket swing, described wabbler mechanism includes the gear that driven by transmission mechanism, with this gear concentric but not coaxial castle wheel and eccentric wheel and connecting rod, described connecting rod one end is connected with eccentric wheel, and the other end is connected with center bearing bracket.
Aforesaid table tennis ball serving robot is characterized in that: described castle wheel is controlled clutch by eccentric part, and this eccentric part is connected with knob by rotating shaft.
Aforesaid table tennis ball serving robot, it is characterized in that: the corner above the described pipe of losing is provided with the auxiliary ball device of dialling, ball device be should auxiliary dial and auxiliary thumb wheel and meshed gears group successively included, wherein first gear is coaxial with this driven straight bevel gear, last gear is coaxial with this auxiliary thumb wheel, and some enters described auxiliary thumb wheel in the pipe of losing from the hole on the pipe of losing.
The utility model compared with prior art has following advantage: because the utility model is the robot formula, the characteristics of its simulation true man service, toss mechanism and kicking machine are equivalent to people's left hand and right hand respectively, earlier the ball back of dishing out is hit the process of serving a ball of realizing by kicking machine with ball by toss mechanism, and can be as required, whether work by wabbler mechanism realizes fixed point service or different directions service, to improve practitioner's the level of receiving, so novel structure of the present utility model, interesting strong, the person practises using to be suitable for the varying level.
Below in conjunction with accompanying drawing and embodiment the utility model is elaborated:
[description of drawings]
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is a front view of the present utility model;
Fig. 3 is a rearview of the present utility model;
Fig. 4 is a left view of the present utility model;
Fig. 5 is a right view of the present utility model;
Fig. 6 is the stereogram of kicking machine of the present utility model;
Fig. 7 is the stereogram of toss of the present utility model mechanism;
Fig. 8 is the stereogram of wabbler mechanism of the present utility model.
[specific embodiment]
The utility model is a kind of table tennis ball serving robot, it includes the drive motors 2 on support 1 and the support 1, in this support 1, be provided with and allow the ball groove 101 of the table tennis process in it, one end of this ball groove 101 is connected with the storage cage 4 that is positioned at support 1 top by falling sphere road 3, the pipe 5 of losing on the other end and the support 1 is connected, this drive motors 2 is connected with these storage cage 4 interior bars 8 of dialling by the thumb wheel 7 that gear train 6 drives respectively in this ball groove 101, this drive motors 2 also is connected with power transmission shaft 9 on the support 1 by this gear train 6, this power transmission shaft 9 is connected with kicking machine 40 with the toss mechanism 30 that is synchronized with the movement respectively by transmission mechanism 20, described toss mechanism 30 and kicking machine 40 are separately fixed on the center bearing bracket 11, described center bearing bracket 11 covers on pipe 5 tops of losing, be provided with the hollow arm 12 that communicates with the ball mouth of the pipe 5 of losing on this center bearing bracket 11, table tennis can directly be sent to from the ball mouth of the pipe 5 of losing in the hollow arm 12 interior hollow passageway.The toss mouth 121 of this arm 12 is positioned at the place ahead of center bearing bracket 11, table tennis 13 at arm toss mouth 121 places contacts with the toss member 301 of this toss mechanism 30, the place ahead that the movable hand 404 of this kicking machine 40 is positioned at this center bearing bracket 11 with and the batting end be positioned at the top of this toss member 301, the racket 401 on the described movable hand 404 batting ends can just hit the table tennis 13 of being dished out by toss mechanism 30 when action.During service, drive motors 2 work, the bar 8 of dialling that rotates is made the table tennis that stores up in the cage 4 in order, allow it in falling sphere road 3 successfully enters the ball groove 101 of support 1, ceaselessly make table tennis toward the pipe 5 interior release of losing by thumb wheel 7 then, ball at last by slide in arm 12 pipes toss mouth 121 back by the toss member 301 of toss mechanism 30 with table tennis 13 toward upthrows, when table tennis 13 just is positioned at the center of racket 401 of kicking machine 40, kicking machine 40 work, by racket 401 ball is hit, receive for the person's of practising a ball game exercise.
As shown in Figure 1, transmission mechanism 20 includes the central gear that is enclosed within on these pipe 5 outer walls of losing, is meshed with gear on this power transmission shaft 9 201, two synchromesh gears 202,203 that are meshed with this central gear 201, wherein a synchronous gear 202 and being used to drives 402 coaxial connections of cam of these kicking machine 40 actions, and another synchromesh gear 203 is connected with cam 302 drivings of toss mechanism 30 by the pair of straight bevel gear 14,15 of engagement.
As shown in Figure 6, kicking machine 40 includes cam 402, trisquare connecting rod 403, movable hand 404, racket 401, back-moving spring 405 and the fixed arm 406 that is installed on the center bearing bracket 11,202 coaxial connections of synchromesh gear of its cam 402 and transmission mechanism 20, one end of described trisquare connecting rod 403 can contact with this cam 402, rotating fulcrum 4061 after the other end is fixedlyed connected with an end of movable hand 404 on fixed arm 406 rotates, then the other end of this activity hand 404 is connected with the handle portion of racket 401, is provided with the back-moving spring 405 that they are resetted on trisquare connecting rod 403 and movable hand 404.At square stance, synchromesh gear 202 rotates under the drive of central gear 201, the cam 402 that is fixed tightly on the same axle with synchromesh gear 202 and then rotates, and promote trisquare connecting rod 403 activity supporting point 4061 swings that rotate, then under the effect of spring 405, the also and then swing of movable hand 404, the racket 401 on movable hand 404 other ends just can hit ball, thereby reaches the purpose of batting.
As shown in Figure 7, toss mechanism 30 include the connecting rod 303 of the cam 302 coaxial, sliding motion with driven straight bevel gear 15, respectively around first lever 304, hook hinge 307 and second lever 305 and the toss member 301 of separately rotating fulcrum 3041,3071,3051 swings; Described cam 302, connecting rod 303, first lever 304, hook hinge 307 and second lever 305 successively between successively contact connect, the other end of this second lever 305 is fixedlyed connected with toss member 301, and described first and second lever 304,305 is connected with back-moving spring 306 respectively.Have sliding tray 3031 on connecting rod 303, connecting rod 303 slides along the traveller in the sliding tray 3,031 16.When toss, synchromesh gear 203 rotates under the drive of central gear 201, the active straight bevel gear 14 that is fixed tightly on the same axle with synchromesh gear 203 and then rotates, thereby drive cam 302 rotations coaxial with driven straight bevel gear 15, cam 302 promotes to make after connecting rod 303 slides first lever 304 around fulcrum 3041 swings, then the swing of the hook hinge 307 by V-type drives 305 swings of second lever, the toss member 301 of the second last lever 305 other ends is dished out the table tennis on it 13, thereby reach the purpose of toss, then under the effect of back-moving spring 306 first, two levers 304,305 and connecting rod 303 reset in order to next toss.
In order can to send table tennis towards other angle, center bearing bracket 11 is designed to the structure that can swing, so in further embodiment of the present utility model, also transmission mechanism 20 be used for driving the wabbler mechanism 50 that center bearing bracket 11 swings and be connected.As shown in Figure 8, include the gear 501 that drives by transmission mechanism 20 at this wabbler mechanism 50, with these gear 501 concentrics but not coaxial castle wheel 502 and eccentric wheel 503 and connecting rod 504, described connecting rod 504 1 ends are connected with eccentric wheel 503, and the other end is connected with center bearing bracket 11.Whether can control wabbler mechanism 50 among the utility model embodiment as required works, thereby realize that racket is toward the different directions batting or only toward a direction batting, this will control well castle wheel from, close, so the eccentric part 505 control clutches of castle wheel 502 by its side, this eccentric part 505 is connected with knob 507 by rotating shaft 506.Turn knob 507, when by eccentric part 505 castle wheel 502 being separated with gear 501, eccentric wheel 503 can not rotate, thereby can not drive center bearing bracket 11 swings, and at this moment racket 401 can only be toward a direction batting.When turn knob 507, when making castle wheel 502 be in the state that closes by eccentric part 505, eccentric wheel 503 and then rotates, because connecting rod 504 is connecting eccentric wheel 503 and center bearing bracket 11, so the rotation of eccentric wheel 503 has just driven the swing of center bearing bracket 11, center bearing bracket 11 again drive activity hand 404 and on racket 401 swing, racket 401 just can hit the past different directions of table tennis like this.The batting so the utility model both can have been fixed a point again can the difference batting.
The corner of losing above managing is provided with the auxiliary ball device of dialling, ball device be should auxiliary dial and auxiliary thumb wheel and meshed gears group successively included, wherein first gear is coaxial with this driven straight bevel gear, last gear is with should auxiliary thumb wheel coaxial, and described auxiliary thumb wheel enters in the pipe of losing in some hole from the pipe of losing.
For better table tennis being managed release in 5 past arms 12 pipes through losing, so the corner above the pipe 5 of losing is provided with the auxiliary ball device 60 of dialling, the wherein auxiliary ball device 60 of dialling includes auxiliary thumb wheel 601 and meshed gears group 602 successively, wherein first gear is coaxial with this driven straight bevel gear 15, last gear is with should auxiliary thumb wheel 601 coaxial, can stir the table tennis in the pipe after entering in the pipe 5 of losing in some hole 51 from the pipe 5 of losing of described auxiliary thumb wheel 601.
Claims (7)
1, a kind of table tennis ball serving robot, include the drive motors (2) on support (1) and the support (1), in this support (1), be provided with ball groove (101), one end of this ball groove (101) is connected with the storage cage (4) that is positioned at support (1) top by falling sphere road (3), the other end is connected with the pipe (5) of losing on the support (1), this drive motors (2) is connected with the interior bar (8) of dialling of this storage cage (4) by the thumb wheel (7) that gear train (6) drives respectively in this ball groove (101), it is characterized in that: this drive motors (2) also is connected with power transmission shaft (9) on the support (1) by this gear train (6), this power transmission shaft (9) is connected with kicking machine (40) with the toss mechanism (30) that is synchronized with the movement respectively by transmission mechanism (20), described toss mechanism (30) and kicking machine (40) are separately fixed on the center bearing bracket (11), described center bearing bracket (11) covers on pipe (5) top of losing, being provided with the hollow arm (12) that communicates with the ball mouth of the pipe (5) of losing on this center bearing bracket (11) is connected, this arm (12) toss mouth (121) is positioned at the place ahead of center bearing bracket (11), the table tennis of locating at arm (12) toss mouth (121) (13) contacts with the toss member (301) of this toss mechanism (30), the place ahead that the movable hand (404) of this kicking machine (40) is positioned at this center bearing bracket (11) with and the batting end be positioned at the top of this toss member (301), the racket (401) on described movable hand (404) the batting end can just hit the table tennis (13) of being dished out by toss mechanism (30) when action.
2, table tennis ball serving robot according to claim 1, it is characterized in that: described transmission mechanism (20) includes and is enclosed within on this pipe (5) outer wall of losing, the central gear (201) that is meshed with gear on this power transmission shaft (9), two synchromesh gears (202) that are meshed with this central gear (201), (203), wherein a synchronous gear (202) and being used to drives coaxial connection of cam (402) of this kicking machine (40) action, and another synchromesh gear (203) is by the pair of straight bevel gear (14) of engagement, (15) be connected with cam (302) driving of toss mechanism (30).
3, table tennis ball serving robot according to claim 2, it is characterized in that: described kicking machine (40) includes cam (402), trisquare connecting rod (403), movable hand (404), racket (401), spring (405) and be installed in fixed arm (406) on the center bearing bracket (11), the coaxial connection of synchromesh gear (202) of described cam (402) and transmission mechanism (20), one end of described trisquare connecting rod (403) can contact with this cam (402), rotating fulcrum (4061) after the other end is fixedlyed connected with an end of movable hand (404) on fixed arm (406) rotates, the other end of this activity hand (404) is connected with the handle portion of racket (401), is provided with the back-moving spring (405) that they are resetted on trisquare connecting rod (403) and movable hand (404).
4, according to claim 2 or 3 described table tennis ball serving robots, it is characterized in that: described toss mechanism (30) includes the connecting rod (303) of the cam (302) coaxial with driven straight bevel gear (15), sliding motion, first lever of swinging around separately rotating fulcrum (3041), (3071), (3051) respectively (304), hook hinge (307) and second lever (305) and toss member (301); Described cam (302), connecting rod (303), first lever (304), hook hinge (307) and second lever (305) successively between contact connection successively, the other end of this second lever (305) is fixedlyed connected with toss member (301), and described first and second lever (304), (305) are connected with back-moving spring (306) respectively.
5, according to claim 2 or 3 described table tennis ball serving robots, it is characterized in that: described transmission mechanism (20) also is connected with the wabbler mechanism (50) that is used for driving center bearing bracket (11) swing, described wabbler mechanism (50) includes the gear (501) that driven by transmission mechanism (20), with this gear (501) concentric but not coaxial castle wheel (502) and eccentric wheel (503) and connecting rod (504), described connecting rod (504) one ends are connected with eccentric wheel (503), and the other end is connected with center bearing bracket (11).
6, table tennis ball serving robot according to claim 5 is characterized in that: described castle wheel (502) is by eccentric part (505) control clutch, and this eccentric part (505) is connected with knob (507) by rotating shaft (506).
7, according to claim 2 or 3 described table tennis ball serving robots, it is characterized in that: be provided with the auxiliary ball device (60) of dialling in described corner of losing pipe (5) top, ball device (60) be should auxiliary dial and auxiliary thumb wheel (601) and meshed gears group (602) successively included, wherein first gear is coaxial with this driven straight bevel gear (15), last gear is coaxial with this auxiliary thumb wheel (601), and some enters described auxiliary thumb wheel (601) in the pipe (5) of losing from the hole (51) on the pipe (5) of losing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620060924 CN2917710Y (en) | 2006-06-22 | 2006-06-22 | Table tennis service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620060924 CN2917710Y (en) | 2006-06-22 | 2006-06-22 | Table tennis service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2917710Y true CN2917710Y (en) | 2007-07-04 |
Family
ID=38215514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620060924 Expired - Lifetime CN2917710Y (en) | 2006-06-22 | 2006-06-22 | Table tennis service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2917710Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102200760A (en) * | 2011-05-25 | 2011-09-28 | 中国科学院自动化研究所 | Method for acquiring ball-hitting gesture and ball-hitting speed of ping-pong robot racket |
| CN103752001A (en) * | 2014-01-28 | 2014-04-30 | 曹玉升 | Training device for hitting shuttlecock with robot |
-
2006
- 2006-06-22 CN CN 200620060924 patent/CN2917710Y/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102200760A (en) * | 2011-05-25 | 2011-09-28 | 中国科学院自动化研究所 | Method for acquiring ball-hitting gesture and ball-hitting speed of ping-pong robot racket |
| CN103752001A (en) * | 2014-01-28 | 2014-04-30 | 曹玉升 | Training device for hitting shuttlecock with robot |
| CN103752001B (en) * | 2014-01-28 | 2015-10-28 | 商丘师范学院 | A kind of robot percussion shuttlecock playing training device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20090729 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |