JPH08280852A - Swing robot - Google Patents

Abstract

PURPOSE: To generate various tracks of swinging freely as desired by furnishing a tilting block with a shoulder axis rotor supported rotatable round the shoulder axis and elbow axis, an arm, and a shoulder axis driving mechanism and an arm driving mechanism for driving them into rotation. CONSTITUTION: When a swing robot is to be used, first the contacting/separating position of a robot body 20 with a ball table 10 is adjusted by a feed screw shaft 14 for the contacting/separating motions and a driving mechanism 15, and the fore-aft position in the ball flying direction of the robot body 20 is adjusted by a feed screw shaft 17 and another driving mechanism 18 so that a ball is placed on the table 10 in the specified position and level. The rotating motion accompanied by a change in the angular velocity round the axis of a shoulder axis rotor 48 on a tilting block 31 is synthesized with the rotating motion accompanied by a change in the angular velocity round the axis of an arm 60, and thereupon the speed and acceleration of a shoulder driving motor 50 and an elbow axis driving motor 55 are controlled so that the face of a golf club 67 hits the ball correctly.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a robot that swings a long material such as a golf golf club and a baseball bat.

[0002]

2. Description of the Related Art Golf In order to evaluate the properties and performances of golf clubs, it is essential to actually hit the ball and observe and study the behavior of the head, shaft or ball. For this reason, various swing robots have already been proposed, but it is difficult for the conventional product to freely draw various swing trajectories such as swing trajectories for beginners, swing trajectories for advanced players, down blow, and upper blow. Met.

[0003]

An object of the present invention is to provide a swing robot which can obtain various swing trajectories more freely.

[0004]

SUMMARY OF THE INVENTION A swing robot according to the present invention includes a tilting block that can tilt about a horizontal waist axis; and a shoulder shaft rotating body that is supported on the tilting block so as to be rotatable about a shoulder shaft. An arm body rotatably supported on the shoulder shaft rotating body about an elbow shaft located eccentrically from the shoulder shaft; a rod-shaped body holding portion provided on the arm body; The present invention is characterized in that a shoulder shaft drive mechanism for rotationally driving the body around the shoulder axis; and an arm body drive mechanism for rotationally driving the arm body around the elbow axis are provided.

The rod-shaped body holding portion rotatably supports the arm body around the axis of the rod-shaped body held by the rod-shaped body holding portion, and controls the rotating position of the rod-shaped body holding portion. The rolling control mechanism is preferably provided.

Further, it is preferable that the rod-shaped body holding portion is capable of adjusting its rotational position about a cock shaft provided on the arm body. The cock adjustment of the rod-shaped body holding portion is preferably controlled so as to change during the swing operation, but may be an adjustment mode that does not change during the swing operation for the sake of simplification of control.

It is preferable that the waist shaft and the tilting block are supported on an upper and lower table whose vertical position can be adjusted. Further, the base supporting the upper and lower tables has a contacting / separating motion with respect to the ball table and a ball flying direction. It is preferable that the front-back movement can be performed.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a swing robot according to the present invention will be described below with reference to the drawings. As shown in FIGS. 1 and 11, the swing robot of the present invention includes a pair of contact / separation rails 11 in a direction of contact / separation with respect to the ball table 10.
And a contact / separation table 12 movably supported on the contact / separation rail 11, and a pair of flight direction rails 13 in the flight direction orthogonal to the contact / separation rail 11 are provided on the contact / separation table 12. It is fixed. The robot body 20 is movably supported on the flight ball direction rail 13. One of the pair of contact / separation rails 11 is provided with a contact / separation feed screw shaft 14 parallel to the rails and a drive mechanism 15 for driving the contact / separation feed screw shaft 14.
It is screwed with the female screw body 16 fixed to 2. On the contact / separation table 12, a feed screw shaft 17 parallel to the flight direction rail 13 and a drive mechanism 18 for the feed screw shaft 17 are provided. The feed screw shaft 17 is a female screw fixed to a base 21 of the robot body 20. It is screwed onto the body 19. Therefore, the robot body 2
0 moves forward and backward with respect to the ball table 10 by driving the feed / screw shaft 14 for contact / separation forward and reverse through the drive mechanism 15, and moves the feed screw shaft 17 forward and reverse through the drive mechanism 18. By driving, it moves back and forth in the flight direction. The drive mechanism 15 may be provided with an encoder for detecting the distance of the robot body 20 to the ball table 10, and the drive mechanism 18 may be provided with an encoder for detecting the position of the robot body 20 on the contact / separation table 12.

The base 21 of the robot body 20 has a structure shown in FIG.
As shown in FIG. 2 and FIG. 10, a vertical guide rail 23 and a vertical movement feed screw shaft 24 that are parallel to each other in the vertical direction are provided, and the vertical movement feed screw shaft 24 is rotationally driven in the forward and reverse directions by a drive mechanism 25. It A vertically movable table 27 is supported on the upper and lower guide rails 23 so as to be vertically movable,
On this vertical movement table 27, a female screw body 28 screwed with the vertical movement feed screw shaft 24 is fixed. The vertical movement table 27 is provided with an encoder 29 for detecting the rotation angle (amount) of the vertical movement feed screw shaft 24. Therefore, by vertically driving the feed screw shaft 24 for vertical movement via the drive mechanism 25, the vertical movement table 27 moves up and down, and its vertical position is detected by the encoder 29.

A horizontal waist shaft 30 is rotatably supported on the vertical movement table 27, and a tilting block 31 is fixed to the waist shaft 30. As shown in FIGS. 8 and 10, a coaxial worm wheel 32 is fixed to the waist shaft 30, and the worm 33 is attached to the worm wheel 32.
Are engaged with each other, and the shaft 34 of the worm 33 is rotatably supported by the vertically movable table 27. A bevel gear 36 is fixed to the lower end of the shaft 34, and a drive mechanism 37 in which the bevel gear 36 is fixed to the vertically movable table 27.
Meshes with the bevel gear 38. Therefore, when the bevel gear 38 is driven in the forward and reverse directions via the drive mechanism 37, the tilt block 31 tilts about the waist shaft 30. The movement of the tilt block 31 corresponds to tilting back and forth around the waist of the upper body of the person. The tilting angle of the tilting block 31 is the waist axis 30.
An encoder 39 provided at one end of the sensor detects. A brake disc 41 is provided on the waist shaft 30, and the brake disc 41 engages with a disc brake 42 provided on the vertically movable table 27.

On the tilt block 31, a cylindrical body 44 whose axis is orthogonal to the waist shaft 30 is fixed, and a shoulder shaft gear 46 and a shoulder shaft gear 46 are fixed to the cylindrical body 44 via a large bearing 45. A shoulder shaft rotating body 48 fixed to is rotatably supported. The center of rotation of the shoulder shaft gear 46 and the shoulder shaft rotating body 48 is the shoulder shaft O1. The shoulder axis O1 is orthogonal to the waist axis 30. A shoulder shaft drive motor 50 having a shoulder shaft drive gear 49 that meshes with the shoulder shaft gear 46 is fixed to the tilt block 31.
When this shoulder shaft drive motor 50 is driven in the reverse direction, the shoulder shaft rotating body 48 rotates about the shoulder shaft O1. This shoulder axis rotating body 4
The movement of 8 corresponds to the rotational movement of the arm (1 arm) around the person's shoulder.

A center gear 53 having a shoulder shaft O1 as a rotation center is rotatably supported on the shoulder shaft rotating body 48. The center gear 53 has a gear 54 coaxially with the gear 54.
4 meshes with the gear 57, and the gear 57 is driven by the elbow shaft drive motor 55 via the bevel gear mechanism 56. The shoulder shaft rotating body 48 is provided with a radial projecting portion 48a that projects radially outward from the tubular body 44, and the radial projecting portion 48a has a tubular body 61 whose rotation center is the elbow shaft O2. Is rotatably supported. Elbow axis O2 is shoulder axis O
It is parallel to 1. The tubular body 61 is integrated with the arm body 60 that projects radially outward from the tubular body. The gear 62 fixed to the outer periphery of the cylindrical body 61 and the center gear 53 at the center of the shoulder shaft rotating body 48 mesh with each other via an intermediate gear 63 rotatably supported on the shoulder shaft rotating body 48 by a shaft 63a. ing. FIG. 5 shows a planar arrangement of these gears. Therefore, when the elbow shaft drive motor 55 is driven in the forward and reverse directions, the arm body 60 rotates in the forward and reverse directions about the elbow shaft O2 via the bevel gear mechanism 56 or the gear 62. The movement of the arm body 60 corresponds to the rotational movement of the arm (two arms) ahead of the human elbow.

As is apparent from FIG. 3, a rolling shaft 65 orthogonal to the elbow shaft O2 is rotatably supported by the arm body 60, and a club holding portion 66 is fixed to the tip of the rolling shaft 65. There is. The club holding portion 66 holds the golf club 67 coaxially with the rolling shaft 65. A rolling shaft 68 is relatively rotatably inserted through the center of the cylindrical body 61, and a bevel gear 69 is fixed to the end of the rolling shaft 68 on the rolling shaft 65 side. On the other hand, a bevel gear 70 that meshes with the bevel gear 69 is fixed to the rolling shaft 65, and an encoder 71 that detects the rotation angle of the rolling shaft 65 is connected. The outer end of the rolling shaft 68 is fixed to the radial protrusion 48 a of the shoulder shaft rotating body 48 and does not rotate with respect to the shoulder shaft rotating body 48. Therefore, when the arm body 60 rotates about the elbow shaft O2, the rolling shaft 65 having the bevel gear 70 meshing with the bevel gear 69 rotates around its axis. The movement of the rolling shaft 65 (club holding portion 66) corresponds to the rotational movement of the person's wrist (rolling, changing the direction of the face of the head) during the swing-up and swing-down process of the golf club. In this embodiment, for example,
The rotation position of the rolling shaft 65 is set in advance so that the head of the golf club 67 becomes square when the golf club 67 held by the club holding portion 66 hits the ball.

FIG. 4 shows an embodiment in which the rolling shaft 65 is rotated by an independent motor 72 instead of this rolling control mechanism. The motor 72 uses what has an encoder. According to this embodiment, the orientation of the face of the golf club 67 can be freely set and controlled.

5 and 6 show another embodiment of the rolling control mechanism. In this embodiment, the club holding portion 66a is supported at the tip of the arm body 60 so that the rotational position can be adjusted around the rolling adjustment shaft 84. A rolling shaft 65a shorter than that in the embodiment of FIGS. 2 and 3 is rotatably supported by the club holding portion 66a, and a bevel gear 70a is fixed to the rear end of the rolling shaft 65a. In this embodiment, the amount of rotation given to the bevel gear 70a can be freely set by a cam mechanism. A cam fixing shaft 75 is inserted in the cylindrical body 61 so as to be rotatable relative to the cylindrical body 61.
A cam plate 76 is fixed to the tip of the arm body 60 side. A cam groove 77 is cut in the cam plate 76,
A cam follower 80 of a swing arm 79 pivotally attached to the arm body 60 by a shaft 78 is fitted in the cam groove 77. The tip of the swing arm 79 is pivotally attached to the connecting arm 81 via a shaft 79a (FIG. 5), and the tip of the connecting arm 81 is connected to the shaft 81.
It is pivotally attached to the radial arm 85 of the rolling adjustment shaft 84 via a (FIG. 6). On the rolling adjustment shaft 84,
Bevel gear 69a meshing with bevel gear 70a (Fig. 5)
Therefore, when the swing arm 79 swings according to the cam groove 77, the bevel gear 69a rotates via the connecting arm 81 and the radial arm 85, and the bevel gear 70a that receives the rotation of the bevel gear 69a, that is, the rolling. The shaft 65a rotates. The rolling angle of the rolling shaft 65a (golf club 67) is equal to the rolling adjustment shaft 8
The encoder 86 provided in No. 4 detects.

A phase adjusting plate 87 is fixed to the outer end of the cam fixed shaft 75, and the relative rotating position of the phase adjusting plate 87 with respect to the shoulder shaft rotating body 48 (radial protrusion 48a) is adjusted. By changing the phase of the cam groove 77, it is possible to change the position where the club face becomes square during the swing operation. The phase adjusting plate 87 is fixed to the radial protrusion 48a at the adjusted position. Cam groove 7
Of course, the movement itself of the rolling can be changed by changing the shape itself of 7.

In the rolling control mechanism of this embodiment, even if the rolling adjusting shaft 84 is rotated, the club holding portion 66a can be used.
The rotational movement (cock) of the (golf club 67) about the rolling adjustment shaft 84 does not occur. That is, the club holding portion 66a does not perform the cocking operation during the swinging operation. However, the direction around the rolling adjustment shaft 84 of the club holding portion 66a (plane direction P in FIG. 6) can be adjusted. This rotation position adjustment can be performed, for example, by loosening the fixing screw to enable relative rotation of the club holding portion 66a with respect to the rolling adjustment shaft 84, and after adjustment, tightening the fixing screw to prevent the same relative rotation again. Good. In this embodiment, in order to simplify the control, the cock operation during the swing operation of the club holding portion 66a is prohibited. However, a rotary drive mechanism is attached to the rolling adjustment shaft 84 to hold the club during the swing operation. It is also possible to cause the portion 66a to perform a cocking operation and its releasing operation.

Further, FIG. 7 shows a cock rotation movement of the club holding portion 66b about the cock shaft 88 and a rotation movement (rolling) of the club holding portion 66b about the club shaft.
This is an embodiment in which and can be performed independently. A club holding portion 66b is fixed to a cock shaft 88 rotatably supported on the arm body 60, and the cock shaft 88 is driven by a dedicated cock moving motor 90. On the other hand, the rolling shaft 65a, which is rotatably supported by the club holding portion 66b, is connected to a dedicated rolling motor 92 via bevel gears 70a and 91.
Therefore, according to this embodiment, the cock action and the rolling action of the movement of the wrist of the person can be given independently.

FIG. 8 shows still another embodiment of the present invention. This embodiment is a modification of the embodiment shown in FIG. 3 and has a cock rotation movement of the club holding portion 66c about the cock shaft 88 and a rotation movement (rolling) of the club holding portion 66c about the club shaft. It is designed so that it can be performed independently. A rolling barrel 95 is rotatably supported by a bearing 94 on the arm body 60 that rotates about the elbow shaft O2. A club holder is provided at the tip of the rolling barrel 95 via a cock shaft 88. 66c is pivotally attached. The club holding portion 66c is capable of a cock operation centering on the cock shaft 88, and
A position (solid line position) where the golf club 67 held by the club holding portion 66c is coaxial with the rolling cylinder 95 can be taken. A bevel gear 69 fixed to the rolling shaft 68 is provided at an end of the rolling cylinder 95 on the elbow axis O2 side.
A bevel gear 70a that meshes with is fixed. The outer end of the rolling shaft 68 is fixed to the shoulder shaft rotating body 48 (radial protrusion 48a).

At the center of the rolling barrel 95, a straight shaft 96
Is inserted so as to be relatively movable, and a sliding block 98 is pivotally attached to the tip of the rectilinear shaft 96 via a pin 97. The sliding block 98 is provided in the club holding portion 66c.
Further, it is slidably fitted in a long hole 99 formed in the radial direction of the cock shaft 88. A feed screw shaft 100 is rotatably supported on the arm body 60 so as to be coaxial with the rectilinear shaft 96, and the feed screw shaft 100 is rotationally driven by a motor 101 with an encoder. The feed screw shaft 100 has a female screw body 10 provided on the rectilinear arm 102.
3 is screwed together, and the rectilinear arm 102 is connected to the rectilinear shaft 96.

In this embodiment, the motor with encoder 1
When the feed screw shaft 100 is rotationally driven in the forward and reverse directions through 01, the rectilinear arm 102 moves straight through the female screw body 103, and the rectilinear shaft 96 moves in the axial direction. When the rectilinear shaft 96 moves forward from the position indicated by the solid line in the figure, the sliding block 98 slides in the elongated hole 99 while the club holding portion 66 moves.
The c is rotated about the cock shaft 88 to be raised in the drawing. That is, the cock operation can be performed.

The outer end of the rolling shaft 68 is fixed to the shoulder shaft rotating body 48 and does not rotate with respect to the shoulder shaft rotating body 48 as in the embodiment of FIG. When the bevel gear 6 rotates about the axis O2,
The rolling cylinder 95 having the bevel gear 70a meshing with 9 rotates around its axis. The movement of the rolling shaft 65 (club holding portion 66) corresponds to the rotational movement of the person's wrist (rolling, changing the direction of the face of the head) during the swing-up and swing-down process of the golf club. In this embodiment, for example, when the golf club 67 held by the club holding portion 66 hits the ball,
The rotational position of the rolling shaft 65 is determined in advance so that the head of the golf club 67 is square.

The tilt block 31 and the contact / separation table 12 are
As shown in FIG. 1, it is preferable to connect by a turnbuckle 22. A force applied to the tilt block 31 during the operation of the robot can be received by the contact / separation table 12 to make the swing locus constant.

Accordingly, the swing robot having the above structure
The contact / separation position of the robot body 20 shown in FIG. Adjust. Then, the ball is placed at a predetermined position and height on the ball table 10, and a rotational movement involving a change in the angular velocity of the shoulder shaft rotating body 48 about the axis O1 and a change in the angular velocity about the axis O2 of the arm body 60 occur. The speed and acceleration of the shoulder shaft drive motor 50 and the elbow shaft drive motor 55 are controlled so that the face of the golf club 67 hits the ball B by the combined motion with the rotational motion. 12 to 15 are for advanced users, beginners,
The swing trajectories of down blow and upper blow are schematically shown. In FIG. 15, the club holding portions 66a (66b, 66c) are rotated about the cock shaft 88 by the angle P. The club holding portion is rotated by a rolling mechanism during the swing, but the face is set to be square at the time of impact. Therefore, a more preferable golf club is analyzed by swinging the golf club on each of these swing trajectories and observing the behavior of the head, shaft, or ball when the club hits the ball using strobe photographs or the like. be able to. According to the embodiment of FIG. 4, the shaft rolling can be freely set to change the direction of the face at the time of a ball hit. According to the embodiments of FIGS. 7 and 8, further cock movement is possible. Can be set to study the effects of cooks. In addition, the robot body 20
By using the contact / separation drive mechanisms 14 and 15 and the flight direction drive mechanisms 17 and 18, it is possible to theoretically add the movements of the waist in the front, rear, left, and right directions during the swing.

[0025]

According to the swing robot of the present invention, various swing trajectories can be obtained more freely.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a swing robot according to the present invention.

FIG. 2 is a sectional view of the same.

FIG. 3 is a partially enlarged view of FIG. 2;

4 shows another embodiment of the rolling control mechanism, FIG.
It is a side view corresponding to.

5 is a view taken in the direction of arrow A in FIG. 2, showing an embodiment in which the rolling control mechanism is different from that in FIGS. 2 and 3. FIG.

FIG. 6 is a sectional view taken along the line VI-VI in FIG. 5;

FIG. 7 is a sectional view corresponding to FIG. 6, showing still another embodiment of the present invention.

FIG. 8 is a sectional view corresponding to FIG. 3, showing still another embodiment of the present invention.

FIG. 9 is a view showing a structure around a waist axis of a tilting block.

FIG. 10 is a view showing a structure around a waist axis of a lifting mechanism of a lifting table and a tilting block.

FIG. 11 is a plan view showing a planar movement mechanism of the swing robot.

FIG. 12 is a diagram showing an example of a swing locus of an advanced player by the swing robot according to the present invention.

FIG. 13 is a diagram showing an example of a swing locus of a beginner by the swing robot according to the present invention.

FIG. 14 is a diagram showing an example of a swing locus of down blow by a swing robot according to the present invention.

FIG. 15 is a diagram showing an example of a swing locus of an upper blow by a swing robot according to the present invention.

[Explanation of symbols]

10 ball table 11 contact / separation rail 12 contact / separation table 13 flight direction rail 20 robot body 21 base 27 vertical movement table 30 waist shaft 31 tilting block 46 shoulder shaft gear 48 shoulder shaft rotating body 50 shoulder shaft drive motor 55 elbow shaft Drive motor 60 Arm body 61 Cylindrical body 65 65a Rolling shaft 66 66a 66b 66c Club holding portion (rod-shaped body holding portion) 67 Golf club (rod-shaped body)

Claims (5)

[Claims] 1. A tilting block capable of tilting about a horizontal waist axis; a shoulder shaft rotating body rotatably supported on the tilting block about a shoulder axis; To
An arm body rotatably supported about an elbow shaft that is eccentric from the shoulder shaft; a rod-shaped body holding portion provided on the arm body; and the shoulder shaft rotating body around the shoulder shaft. A swing robot comprising: a shoulder shaft drive mechanism that is rotationally driven; and an arm body drive mechanism that rotationally drives the arm body around an elbow axis. 2. The rod-shaped body holding portion according to claim 1, wherein the rod-shaped body holding portion is rotatably supported by the arm body about an axis of the rod-shaped body held by the rod-shaped body holding portion, and
A swing robot provided with a rolling control mechanism for controlling the rotation position of the rod-shaped body holding portion while the arm body is rotating. 3. The swing robot according to claim 2, further comprising a cock mechanism for adjusting a rotational position of the rod-shaped body holding portion around a cock shaft provided on the arm body. 4. The swing robot according to claim 1, wherein the waist shaft and the tilt block are supported on a vertical table whose vertical position can be adjusted. 5. The swing robot according to claim 4, wherein the base supporting the upper and lower tables is capable of moving toward and away from the ball table and back and forth movement of the ball in the flight direction.