JP3306800B2 - Golf swing robot gripping method and gripping device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for gripping a golf swing robot.

[0002]

2. Description of the Related Art A robot that hits a golf ball by simulating a swing motion of a player is mainly used as a testing machine for developing a golf ball or a golf club.
The actual rotational movement that occurs on the player's shoulders, arms, and wrists
It simulates the robot's shoulders and arms via a computer. For example, in the robot shown in FIG. 7, a shoulder (or upper arm) plate 1 is rotated via a belt 2 by a motor built in the apparatus main body, and simultaneously with the rotation of the shoulder plate 1, Arms (ie,
Belt 6 driven by a large gear 5 meshing with a small gear 4 integral with the shoulder plate 1)
It is rotated by. At this time, the shoulder plate 1 and the arm plate 3 rotate around the rotation shafts 7 and 8 as shown in FIG. 7, so that the golf club swings and the ball is hit. In conjunction with the rotation of the arm plate 3, the rotation of the small gear 10 meshing with the small gear 9 causes the club shaft 20 to rotate around its axis via the bevel gear 11, and the striking surface of the head 21, ie, the face The posture of 21A is adjusted.
The lie angle is adjusted by tilting the main body forward and backward by the handle 12 at the rear of the robot main body.

However, in the swing robot as described above, the device 30 for gripping and fixing the grip 22 of the club shaft 20 is usually sandwiched at several places around the grip 22 by a gripping plate 31, as shown in FIG. Press and hold. That is, in FIG. 8, four gripping plates 31 urged outward by a spring 32 are arranged at equal intervals around a cylindrical device main body 33 (four places).
When the grip 22 of the club shaft 20 is inserted thereinto, the lever 35 of the pair of ring mechanisms 34 is tilted to expand the link, and the sliding ring 36 connected to the link is provided at the both ends of the grip plate 31 at the thick wall. It is moved to the part 31A.
As a result, the pair of left and right sliding rings 36 push the thick portions 31A at both ends of the gripping plate 31 into the inside of the apparatus body against the urging force of the spring 32, and four places on the circumference of the grip 22 are gripping plates. The grip 22 is gripped by the pressure at 31.

[0004]

Since the conventional gripping device 30 for the grip 22 of the swing robot has the above-described mechanism, several places around the grip 22 are strongly pressed by the gripping plate 31, and a large local deformation occurs in this portion. And concentration of stress occurs (see FIG. 9). As a result, when performing a ball hit test with a swing robot for a long period of time, such as performing a fatigue test of the shaft 20, cracks and breakage of the shaft 20 at the tip of the gripping device 30 occur early in the conventional robot. Therefore, there was a concern that the intended purpose of the test could not be fulfilled.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a golf gripping method and a golf gripping apparatus for a golf swing robot which do not cause accidental damage to the shaft in a long-term club test by the robot.

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a golf gripping method for a golf swing robot which hits a golf ball by imitating a swing motion of a golf player. A pair of openable and closable holding tools formed by combining a pair of holding tools with
Gutter type where the groove width gradually narrows toward one end in the longitudinal direction
The grip of the golf club is housed in a through hole similar to the grip outer shape of the grooved golf club, and then pressed.
The grip end by extruding the shaft side unit, the grip extruding on one opening side of the through hole, gripping the grip <br/> up in a state in which the gripping surface is pressed against the inner wall of the through hole It is something to do. A golf gripping device for a golf swing robot that hits a golf ball simulating a swing motion of a golf player, wherein a groove width of each of a pair of openable and closable holders gradually decreases toward one end in a longitudinal direction. Forming a trough-shaped groove, closing the pair of holders, and combining the respective trough-shaped grooves to form a through hole similar in shape to the grip outer shape of the golf club, with respect to the grip of the golf club housed in the through hole . Insert the grip end
By pushing this grip toward the shaft side, this grip
Pressing means is provided for pushing the grip surface to the inner wall of the through-hole by pushing out to one opening side .

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a grip holder 40 used in the present invention. A pair of holders 40A and 40B are connected by a hinge 41 on one side in the longitudinal direction and can be opened and closed. The gutter-shaped grooves 42A, 42 whose groove width gradually decreases toward one end in the longitudinal direction are provided in the respective holders 40A, 40B.
B is formed. Gutter-shaped groove 42B at the other end with a wider groove width
(42A) radius r ₁ and a gutter-shaped groove 42B (42
The radius r _{2 of} A) is r ₁ > r ₂ . When the pair of holders 40A, 40B are closed, the two gutter-shaped grooves 42A, 42
B combine to form a through hole 42. The grip 22 is housed in the through hole 42. The through holes 42 are open at both ends of the grip holder 40. In addition, the holder 40
A and 40B are preferably box shapes made of metal or plastic.

FIG. 2 shows a grip 22 of a golf club suitable for being held by the grip holder 40. A large-diameter portion (see FIG. 2) of a conventional product is provided at the distal end of the grip side 22A. (Indicated by a dashed line).
This part is for preventing the grip 22 from coming out of the hand when the player swings the club, but the grip 22 held by the holder 40 is
This is not necessary because the entire outer periphery is pinched and more reliable gripping is performed, and by removing this, the entire surface of the grip 22 is more uniformly gripped. Also, grip 2 in FIG.
2, a longitudinal lip (not shown) provided on the inner surface 22B of the cylindrical grip 22 to prevent twisting of the grip in the conventional product.
There is no smooth surface. Due to the secure grip, twist of the grip 22 is hardly generated, such a ridge is not required, and the entire surface of the grip is uniformly held. Accordingly, in the embodiment, a simple tapered cylindrical grip 22 is used, in which the grip diameter gradually decreases from the end diameter of 23.8 mm to the tip diameter of 19.0 mm. The material of the grip 22 is the same as that of the existing grip, and the grip 22 is inserted into the shaft 20 by a conventional method in which a double-sided tape is attached to the shaft 20 and the grip 22 is fitted thereon.

When the grip 22 shown in FIGS. 2 and 3 is used, the gutter-shaped grooves 42A, 4A of the holders 40A, 40B are used.
The length of 2B is equal to or longer than the length of the grip 22, and is preferably longer than the grip 22 so that the grip 22 has a groove 42A,
When set in 42B, the tip of the grip 22 is projected from the tip of the holder 40. Holder 4
This is for avoiding that the tip of the zero and the end of the grip 22 are overlapped and the concentration of the stress on the shaft 20 in this portion is generated.

In FIG. 4, a box-shaped case 45 (45A, 45B) which can be separated vertically is fixed on the arm plate 3 by welding a lower frame 45B to the arm plate 3. Insert the grip 22 of the club shaft 20 into the grooves 42A, 4
After the holders (40A, 40B) clamped in 2B are fitted into the lower frame 45B of the case 45, the upper frame 45A
Is put on the holder, and the upper frame 45A and the lower frame 45B are united with a stopper (not shown). FIG. 5 shows the grip 2
FIG. 2 is a diagram viewed from the front end side of FIG. The tip 46 of the grip 22 is protruded from the tip of the case 45, so that stress concentration of the shaft 20 in this portion is avoided. The end of the case 45 is open at the end of the grip 22 of the shaft 20, and the end of the grip 22 shown in a cutaway view in FIG. 5 is pressed by the grip holder 40. Grip 22
Moves to the tip of the holder 40, and the wall surface of the through hole 42 formed by the two grooves 42A and 42B (that is, the wall surface of the groove) 4
The outer peripheral surface of the grip 22 is pressed against 2 ′, and the tip of the grip 22 projects from the tip of the holder 40, so that the grip 22 is gripped by the holder 40. Here, the air pressure of the cylinder 43 is set to 7 to 8 kg / cm ² . The pressing means 50 is constituted by the cylinder 43 and the rod 44, but a screw-type pressing means may be employed.

In the example shown in FIG. 4, the holder 40 and the shaft 20 are not rotated. However, as shown in FIG. 6, the holder 40 and the cylinder 43 are housed in the cylindrical case 13 and To the bearings 14 on the arm plate 3,
It is also possible to make the club shaft 20 and the case 13 rotatable by a bevel gear mechanism 16 that is rotatably supported at 15 and attached to the outer surface of the case 13.

In the embodiment described above, the grip 22
Has a shape different from that of a general grip, but a grip having a general shape can be reliably held by the grip holder 40. In this case, since the grip ends are not stored in the gutter-shaped grooves 42A and 42B, most of the grips can be reliably held by the walls of the grooves being pressed against each other. Alternatively, the shape of the through-hole 42 may be adjusted to the grip so that the entire periphery of the grip is pressed against the inner wall 42 ′ of the through-hole 42 when extruded by the pressing means 50.

[0014]

According to the method of gripping a grip of a golf club of the present invention, the grip housed in a through-hole similar to the outer shape of the grip is pushed out to one opening side of the through-hole, and the inner wall of the through-hole is formed. Since it is gripped while pressed against
Each part of the outer peripheral surface of the grip is evenly pressed by the inner wall of the through hole. Therefore, unlike the conventional device, there is no local large deformation or concentration of stress on the grip, and accidental breakage of the shaft does not occur over a long period of time such as a fatigue test of the shaft and a number of impact tests. Good test results can be obtained.

In the gripping device of the present invention, the grip can be easily stored in the gutter-shaped groove with the pair of holders opened, and after the holders are closed, the grip end is pressed toward the shaft by the pressing means. By doing so, the grip is pressed against the wall of the through hole and is reliably held by the holder. In addition, such a holder has a simple structure and a low manufacturing cost.

When the end of the grip is pressed by a hydraulic or pneumatic cylinder so as to press the outer peripheral surface of the grip against the inner wall of the through hole, the pressing force is maintained while maintaining a constant high set value. Since the elasticity is provided so that a minute change is allowed according to the force, an impact force generated in the grip at the time of hitting the ball can be reduced.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a state in which a holder used in the present invention is opened.

FIG. 2 is a front view showing a shaft suitable for use in the holder of the present invention.

FIG. 3 is a sectional view of a shaft.

FIG. 4 is a front view showing a state where the holder is set on an arm plate of the robot.

FIG. 5 is a sectional view taken along the line SS in FIG. 4;

FIG. 6 is a front view showing an example in which a shaft is configured to be rotatable around an axis.

FIG. 7 is a front view showing a golf swing robot.

FIG. 8 is a front view showing a conventional club holding device.

FIG. 9 is a cross-sectional view of a state in which a grip is held by a conventional holder.

[Explanation of symbols]

 Reference Signs List 20 shaft 22 grip 40 grip holder 40A, 40B holder 42 'inner wall 42 through hole 42A, 42B gutter-shaped groove 50 pressing means

Continuation of front page (58) Field surveyed (Int.Cl. ⁷ , DB name) A63B 53/00 A63B 69/36 A63B 69/40

Claims (4)

(57) [Claims] 1. A golf gripping method for a golf swing robot that hits a golf ball by imitating a swing motion of a golf player, comprising: a pair of holding tools each having a gutter-shaped groove ;
The groove width is one end in the longitudinal direction for each of the pair of openable and
The grip of the golf club is housed in a through hole similar in shape to the grip outer shape of the golf club having a gutter-shaped groove that gradually narrows toward the side, and then the grip end is pushed out toward the shaft by pressing means.
It is, this grip extruding on one opening side of the through hole, like the gripping surface is pressed against the inner wall of the through hole
How to hold the grip in a state . 2. A tip of a grip of the golf club is held.
The projecting member is protruded from a tip of the holding device.
2. A method of gripping a club by the golf swing robot according to 1. 3. A club gripping device for a golf swing robot which hits a golf ball by imitating a swing motion of a golf player, wherein a groove width of each of a pair of openable and closable holding members is directed toward one end in a longitudinal direction. A gradually narrowing gutter-shaped groove is formed, a pair of holders are closed, and the respective gutter-shaped grooves are combined to form a through-hole similar to the golf club grip outer shape, and the golf club grip housed in the through-hole. Against
By pushing the grip end to the shaft side, this grip
A gripping device for a golf swing robot, comprising: pressing means for extruding a grip toward one opening side of the through hole to press the grip surface against the inner wall of the through hole. 4. The golf club according to claim 1, wherein a tip of a grip is held.
The projecting member is protruded from a tip of the holding device.
4. The gripping device for a golf swing robot according to 3.