JP4701112B2 - Golf trial hitting device - Google Patents

Description

  The present invention relates to a golf trial hitting device that mechanically performs a test swing (trial hit) for performance evaluation of a golf club, and more particularly to a technique for improving a flight distance.

  Conventionally, in manufacturing and development of a golf club, a test swing for actually hitting a golf ball is performed, and the performance of the golf club is evaluated from a simulation analysis by a computer. A test swing may be performed by a human, but a golf trial hitting device (also referred to as a swing robot or a shot robot) for causing the test swing to be executed mechanically has been developed (for example, Patent Documents 1 to 3). ).

  That is, as shown in Patent Documents 1 and 2, a conventional golf trial hitting device forms a swing arm mechanism with a first arm corresponding to an arm and a second arm corresponding to a hand, and rotates these in conjunction with each other. By doing so, a test swing of the golf club held by the second arm is executed. Although the first arm and the second arm are interlocked with the same rotation direction, the rotation shaft position is different and the rotation angle and rotation speed are independently controlled by separate drive motors. Thus, various club turning trajectory patterns can be executed. Also, as a golf club holding means (clamping means), a twisting mechanism having a club axis as a rotation axis is provided on the second arm, and this is further rotated by another driving motor, thereby imitating the turning of the wrist. A swing is possible, and a swing closer to a human being is executed.

  On the other hand, the golf trial hitting device disclosed in Patent Document 3 is provided with a rotation drive unit in a part of the device body corresponding to the waist, and a test swing is performed by reciprocating the rotation drive unit with an oscillating drive or the like. The torque of is measured.

JP-A-9-149958 Patent No. 3285484 publication JP 2001-29516 A

  Incidentally, one of the performances required for golf clubs is flight distance. In particular, in the development of a driver for driving shots, improving the flight distance is an important point. In the case of human beings, the flight distance is mainly adjusted by two elements of arm swing and waist swing. However, in the case of the golf trial hitting device shown in Patent Documents 1 and 2, there is no rotating portion corresponding to waist swing. Therefore, the flight distance is adjusted only by the swing arm mechanism. Specifically, the flight distance is controlled by increasing or decreasing the rotational speed of the swing arm mechanism by adjusting the output of the driving motor. In other words, in the case of the conventional device, in order to improve the flight distance, it is necessary to adopt a motor with a large maximum output as a drive source of the swing arm mechanism. If the balance of the center of gravity is designed to be optimal, the device will naturally increase in size.

  On the other hand, the golf trial hitting device shown in Patent Document 3, on the contrary, swings only by the rotation of the rotation drive unit provided in the device body corresponding to the swing of the waist, so that the flight distance is as it is. Cannot be improved. Therefore, by combining the configurations of Patent Documents 1 and 2 including the swing arm mechanism and the configuration of Patent Document 3 including the rotation drive unit in the body part, the flying distance can be improved by using both the rotation of the arm and the rotation of the body part. It is possible to plan.

  However, the configuration shown in Patent Document 3 stabilizes the center-of-gravity balance because the rotation drive unit is provided above the portion (rotation shaft 17 in Patent Document 3) that adjusts the forward tilt angle of the body part. hard. That is, in the combination described above, the swing arm mechanism that is the active drive part and the rotational drive part of the trunk part are all concentrated on the upper part of the angle adjustment part (rotary shaft 17) described above. In addition, the load on the angle adjusting unit (rotating shaft 17) is heavy, and it is difficult to expect even a stable test swing as well as an improvement in flight distance. In order to eliminate the shaking of the upper part of the apparatus and the burden on the angle adjusting unit and execute a stable test swing, it is inevitable that the apparatus is increased in size.

  The present invention has been made in view of the above-described problems of the prior art, and the object of the present invention is to have a configuration that can improve the flight distance without losing the balance of the center of gravity in the configuration including the swing arm mechanism. A golf trial hitting device is provided.

  In order to achieve the above-described object, in the present invention, in a golf trial hitting device provided with a swing arm mechanism that holds a golf club and is rotationally controlled so that a golf ball can be hit by trial, an upper body portion provided with the swing arm mechanism; A lower torso that supports the upper body so that the tilt angle can be adjusted; a base that supports the lower torso so that the height can be adjusted; a pedestal that supports the base; and the lower torso A means for constituting a golf trial hitting device from a hitting force assisting mechanism that rotates horizontally in conjunction with the swing arm mechanism was used.

  The base part supports the lower body part in a non-rotatable manner and is supported by the base leg part so as to be rotatable, and a striking force assist mechanism is provided integrally with the base part so as to be able to rotate together with the base part. A main gear, a motor as a drive source fixed to the pedestal, servo means that can control the motor independently of the swing arm mechanism, and the driving force of the motor to the main gear The specific means of comprising the transmission gear which rotates the lower trunk part horizontally through the base part is used.

  As another specific means, the base part rotatably supports the lower body part and is supported non-rotatably by the pedestal part, and a main gear provided with a striking force assist mechanism at the lower end of the lower body part, A motor as a drive source disposed inside the base portion, servo means capable of controlling the motor independently of a swing arm mechanism, and a driving force of the motor transmitted to the main gear to A means is used that comprises a transmission gear that horizontally rotates the body.

  Further, as specific means for configuring the swing arm mechanism, the swing arm mechanism includes a first arm corresponding to the upper arm portion, and a second arm corresponding to the lower arm portion pivotally attached to the free end of the first arm. A clamping means provided on the second arm for detachably holding the golf club, a turning means for turning the first arm so as to change speed, and a turning means for turning the second arm so as to change speed. The turning movement of the first arm by the turning means and the turning of the second arm by the turning means are independently controlled. In this configuration, the swing arm mechanism may further include a twisting unit that rotates the clamp unit around the shaft axis of the golf club.

  According to the present invention employing the above-described means, the swing arm mechanism and the striking force assist mechanism for horizontally rotating the lower torso in conjunction with the swing arm mechanism are provided, so two rotations corresponding to arm swing and waist swing are provided. The maximum flight distance can be improved by the mechanism as compared with the conventional case. In addition, the striking force assist mechanism has a substantial weight, but is disposed closer to the base portion, contributing to the low center of gravity of the entire device, and without increasing the size of the device from the swing arm mechanism alone. Still, a stable test swing is possible. At the same time, it is possible to perform a stable test swing without shaking while maintaining the strength of the entire apparatus necessary for the test swing without applying an excessive burden to the forward tilt angle adjustment unit. Furthermore, according to the swing arm mechanism of the present invention, by separately controlling the moving speed of the first and second arms by the turning means and the turning means, and the twist angle of the clamp means by the twist means, Arbitrary and various patterns (club turning trajectories) including wrist movements by a model player such as a wrist turn can be obtained, and various test results corresponding to various patterns can be obtained.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 shows a golf trial hitting device according to a first embodiment of the present invention. In the figure, 10 is a swing arm mechanism for detachably holding a golf club C, 20 is the swing arm mechanism 10 and the mechanism. 10, a body part provided with first and second power transmission paths to be described later for realizing the test swing, 30 is a lower body part that stands upright and supports the body part 20, and 40 is in the vertical direction. A base portion that stands and supports the lower body portion, 50 is a pedestal portion that supports the base portion 40, and 60 is a striking force assisting mechanism. As shown in FIG. 2, the upper body portion 20 is configured so that the forward tilt angle can be adjusted within a range of, for example, 30 degrees together with the swing arm mechanism 10 by an angle adjusting shaft 21 that is a connecting portion with the lower body portion 30. Has been. Moreover, this lower trunk | drum 30 is comprised so that height adjustment can be carried out by the height adjustment part 31 by extending | stretching up and down in the range of 20-50 cm with the upper body part 20, for example. These angle adjustment and height adjustment can be controlled by, for example, hydraulic control. Further, the pedestal part 50 is provided with four installation leg parts 51 protruding at equal angles to regulate the shaking of the apparatus during the test swing.

  In FIG. 1, reference numeral 70 denotes a control unit of the apparatus, which uses the personal computer 71 in which a predetermined program is installed and uses the input device such as the mouse 72 and the keyboard 73 to set the apparatus such as the angle adjustment and the height adjustment described above. And swing settings such as the rotation speed and rotation angle of the swing arm mechanism 10 and the striking force assist mechanism 60, and the analysis result of the test swing is displayed on a display device such as a CRT display 74. The control method by the control unit 70 and the test shot analysis method are as disclosed in the patent application (Patent Document 1) by the present applicant.

  In this embodiment, as shown in FIG. 3, the striking force assist mechanism 60 pivotally supports the base portion 40 on the flat plate plate 52 of the base leg portion 50 through appropriate bearings so that it can be rotated forward and backward. A main gear 61 composed of gears is provided, a servo motor 62 serving as a drive source and a transmission gear 63 for deceleration are provided respectively on the flat plate plate 52, and the driving force of the servo motor 62 is transmitted via the transmission gear 63 to the main gear. This is transmitted to the gear 61 so that the base portion 40 is controlled to be horizontally rotatable forward and backward (reciprocating). In addition, the base portion 40 is molded into a hollow prismatic shape, and the lower body portion 30 that is also molded into a prismatic shape is inserted and fitted to the base portion 40, so that the height can be adjusted and the rotation of the base portion 40 can be performed. It rotates to reciprocate and rotate the upper body part 20 together with the swing arm mechanism 10.

  In the golf trial hitting device having such a configuration, the servo motor 62 is controlled by the control unit 70 so as to operate the hitting force assisting mechanism 60 in conjunction with the swing arm mechanism 10. The test swing can be performed in a state in which the swing of the striking force assist mechanism 60 is added to the swing. In other words, the flight distance can be improved by an action resembling the movement of a human who swings with the two elements of arm swing and hip swing. Further, since the hitting force assisting mechanism 60 is provided below the apparatus, this contributes to lowering the center of gravity of the apparatus, and the swinging during the test swing can be performed without increasing the size of the pedestal 50 and reinforcing each support. The prevention function can be enhanced at the same time. The striking force assisting mechanism 60 can be controlled to rotate within a range of ± 30 degrees, for example, when the impact is 0 degrees. However, if the striking assist mechanism 60 is within a range assisting the striking force of the swing arm mechanism 10, The rotation range is not limited.

  Next, FIG. 4 shows a hitting force assisting mechanism 80 of the golf trial hitting device according to the second embodiment of the present invention. The base portion 81 and the lower torso portion 82 are both formed into a cylindrical shape, and the lower torso By inserting the part 82 into the base part 81, the lower body part 82 is supported so as to be adjustable in height and rotatable. A main gear 83 is formed at the lower end of the lower body portion 82, a servo motor 84 as a drive source in the base portion 81, and a reduction gear 85 that transmits the driving force of the servo motor 84 to the main gear 83. As a result, the lower body portion 82 is configured to be reciprocally rotatable, and as a result, the same operations and effects as those of the first embodiment can be obtained.

  In the present invention, the lower body portion and the base portion are erected vertically, but the angle of the motor shaft in the striking force assist mechanism may be vertical or horizontal. However, if an angle is generated between the motor shaft and the lower shaft or base shaft, such as when the motor shaft is horizontal, a bevel gear is used as the transmission gear. It is necessary to change the angle of the output shaft of the motor so as to reciprocate a certain lower body or base.

  On the other hand, the configuration of the swing arm mechanism 10 is as disclosed in Patent Document 1. However, the outline of the swing arm mechanism 10 will be described. An impact corresponding position is set on the upper body portion 20 with the back swing top position being 0 degree. A first arm 11 capable of turning over a range of 360 degrees to the follow-through end position is provided, and the free end portion of the first arm 11 rotates over a total range of 180 degrees from plus 90 degrees to minus 90 degrees. A possible second arm 12 is pivotally attached.

  Here, the above-mentioned first arm 11 corresponds to the upper arm portion, and the second arm 12 corresponds to the lower arm portion. A clamp device 13 is attached to the upper surface of the above-mentioned second arm 12, and this clamp The grip portion of the golf club C is detachably fixed to the device 13.

  Next, the configuration of two independent power transmission paths for the first arm 11 and the second arm 12 will be described with reference to FIG. A first motor 14 as a turning means capable of reversible rotation and speed change is attached to one lower surface of the upper body portion 20 and a bracket 15 extending downward from the lower surface middle portion of the upper body portion 20 to the other side is attached. A second motor 16 is attached to the lower surface of the extended end portion of the bracket 15 as a rotating means capable of reversible rotation and speed change. As each of the motors 14 and 16, an AC servo motor or the like that can rotate the rotor in a specified direction at a rotation speed proportional to the control current is used.

  The first arm 11 and the first motor 14 are connected by a plurality of pulleys and a timing belt, and the rotational force of the first motor 14 is independently transmitted to the base end portion of the first arm 11 through the pulleys and the timing belt. A first power transmission path is configured.

  A plurality of pulleys and a timing belt are also provided between the second arm 12 and the second motor 16, and second power for independently transmitting the rotational force of the second motor 16 to the base end portion of the second arm 12. A transmission path is configured.

  Since the swing arm mechanism is configured as described above, the first arm 11 corresponding to the upper arm portion is swiveled so as to be variable by the above-described swiveling means (see the first motor 14). The second arm 12 corresponding to the pivoted lower arm can be shifted by the above-described rotating means (see the second motor 16). Moreover, the turning movement of the first arm 11 by the above-described turning means (see the first motor 14) and the turning of the second arm 12 by the above-described turning means (see the second motor 16) are controlled independently. The movement of the wrist by the model player, such as a wrist turn, is controlled by appropriately controlling the movement speed of the arms 11 and 12 by the turning means (see the first motor 14) and the turning means (see the second motor 16). It is possible to obtain arbitrary and various patterns (club turning trajectory), and to obtain various test results corresponding to various patterns.

  In addition to this configuration, by providing a twisting means (servo motor) that rotates the clamp device 13 around the shaft axis of the golf club C by a servo motor that is further controlled independently, a variety of swing patterns can be realized. be able to.

1 is an overall perspective view of a golf trial hitting device according to a first embodiment of the present invention. Side view of the golf trial hitting device Same as above, top view of impact assist mechanism Schematic showing the hitting force assist mechanism of the golf trial hitting device according to the second embodiment of the present invention. Partially cutaway sectional view showing a swing arm mechanism of a golf trial hitting device according to the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Swing arm mechanism 20 Upper body part 30 Lower trunk | drum 40 Base part 50 Base leg part 60 Strike assist mechanism 70 Control unit

Claims (4)

A golf trial hitting apparatus having a swing arm mechanism that holds a golf club and is controlled to rotate so that a golf ball can be hit, and supports the upper body part provided with the swing arm mechanism and the upper body part so that the tilt angle can be adjusted. A lower torso, a base that supports the lower torso so that the height can be adjusted, a pedestal that supports the base, and a hammer that rotates the lower torso horizontally in conjunction with the swing arm mechanism. Ri Do and a force assist mechanism, the swing arm mechanism comprises a first arm corresponding to the upper arm, the second arm corresponding to the lower arm portion pivotally mounted to said first arm of the free end, said second A clamp means provided on the arm for detachably holding the golf club; a turning means for turning the first arm so that the first arm can be changed; and a turning means for turning the second arm so that the second arm can be changed. First arm with swivel means Golf testing golfer apparatus, characterized in that the pivots said configured so as to independently control the rotation of the second arm by the rotation means. The base part is rotatably supported by the pedestal part, and the striking force assist mechanism includes a main gear provided integrally with the base part so as to be able to rotate together with the base part, and a drive fixed to the pedestal part. A motor as a power source, servo means capable of controlling the motor independently of the swing arm mechanism, and driving force of the motor to the main gear to rotate the lower torso horizontally through the base portion The golf trial hitting device according to claim 1, comprising a transmission gear to be operated. The base portion rotatably supports the lower body portion, and the striking force assist mechanism includes a main gear provided at a lower end of the lower body portion, a motor as a drive source disposed inside the base portion, and the motor 2. The golf trial hit according to claim 1, comprising servo means that can be controlled independently of a swing arm mechanism, and a transmission gear that transmits the driving force of the motor to the main gear to horizontally rotate the lower body portion. apparatus. 2. The golf trial hitting device according to claim 1 , wherein the swing arm mechanism further comprises a twisting means for rotating the clamp means around the shaft axis of the golf club.

Images