TWM503246U - Multi-axis table tennis serving system - Google Patents

Description

Multi-axis billiard tee system

This creation is about a multi-axis billiard serving system, especially a multi-axis robot that includes a billiard teeing device at the wrist end of the robot arm.

Billiard sports have been around for a long time. It is an indoor sport. In addition to being able to exercise muscles and muscles, it can also train reaction and concentration. Coupled with weather and age restrictions, it has recently become one of the more popular sports. If you want to improve your skills, you need to have proper training. However, when you practice billiards, you need at least two or more people to practice the fight. For those who are not fixed time or have no fixed golfers, they are very troubled. Therefore, in recent years, in order to improve the inconvenience of practicing the ball, manufacturers have developed a billiard ball machine for the user to practice billiards alone.

The common billiard ball machines have already entered several tee modes in advance, and then randomly serve according to different tee modes. Although such a billiard ball machine can provide a single player to perform a batting practice, it has effectively improved the inconvenience that the billiard ball must be played by two people. However, the conventional teeing device mostly adopts a preset mode, and the ball is oriented at a predetermined ball speed. The direction is hit, so it is less easy to train the user's reaction ability, and can not adjust the actual hitting condition of the user, and thus can not fully meet the training needs of the player. A related technical description of the billiard teeing system is as follows: The Republic of China Patent No. M477912 discloses a billiard training device suitable for being placed on one side of a billiard table to project a billiard to a user on the other side. This billiard training device The utility model comprises a base, a throwing module, a detecting module and a processing module, wherein the detecting module is used to instantly detect the position of the user, and the billiard ball is projected on a predetermined position outside the predetermined distance on both sides of the user, thereby enhancing the use. The hitting skills of the player and the training of the user's shot response.

The Republic of China patent M465949 reveals a simple platform type table tennis The ball machine includes a ball plate, a base and a main machine, and the ball plate is connected to the host computer. The bottom of the main machine is provided with a turntable stepping motor, and the turntable stepping motor shaft is provided with a rotating disk, and the host and the base are connected by a rotating disk, and the top of the host There is a ball sending motor, the ball sending motor drives the ball feeding wheel to rotate, the ball feeding plate communicates with the host machine, and a pair of ball sending motors are arranged in the host machine, and the ball sending motor drives the ball wheel to rotate. The rotary stepper motor drives the rotating disc to realize multi-point service. The middle of the feeding disc has a ball splitter structure to prevent the ball from being placed on the feeding plate. The elliptical holes at the two ends of the serving motor can adjust the distance of the ball, and the bottom of the base is provided with rubber. The pad can prevent the ball from being displaced and the ball table. The deceleration spring of the ball can prevent the ball from appearing at the goal when the ball is delivered quickly.

The Republic of China Patent M445456 reveals a table tennis assisted training system. The system includes a photoelectric sensing device, a plurality of light emitting units and a control unit. Photoelectric sensing devices are used to sense billiards from one side of the billiard table. A plurality of lighting units are disposed on the same side of the billiard table as the billiards are issued. Each of the illumination units can respectively emit a plurality of different colors of light to indicate the player's return stroke and direction. The control unit is configured to receive signals to separately control the switches of the light unit. When the billiard is sensed, the photo-sensing device generates a signal to the control unit. Two modes can be performed when receiving a signal, where mode one: turn on one light unit and turn off the rest; mode two: turn off one light unit and turn on the rest. In addition, the control unit also controls the color of the light emitted by the illumination unit.

The Republic of China patent M439503 reveals a technique of a billiard ball serve Surgery, especially in the absence of any energy and electricity, uses gravity to drive the billiards forward, providing practitioners to fight billiards. The billiard ball serve provided by the creation includes: a hair supply tube, a tube support column and a ball table holder. The hair supply tube is hollow to provide guidance for the forward movement of the billiard, the support tube of the tube supports the hair supply tube, and the ball table holder is mounted below to fix the edge of the table. The billiard ball serveer of this creation puts the billiard ball into the hairpin tube by manpower, and causes the billiard ball to fall and bounce by gravity to provide a billiard practitioner.

The Republic of China patent M407091 reveals an automatic judgment user The action, posture, and automatic ball-feeding device that changes the timing of the tee shot, the direction of the serve, and the speed of the serve. The automatic ball delivery device is composed of at least one ball machine, at least one digital image capturing module, and a controller; wherein the controller is preset with at least two control modes, and the The image information of the digital image capture module is compared, and the at least one serve adjusts the timing of the serve, the serve speed and the serve direction according to the comparison result, and can automatically change the serve timing and the serve direction according to the user's motion and posture. And the speed of serving.

This creation is about a multi-axis billiard serving system, which mainly provides trainers to do all-round table tennis batting training in different positions and angles, and to test the effect of the trainers.

With the popularity of the billiards movement and the daily development, the population engaged in billiard sports is constantly increasing. Because billiard sports require at least two people to play billiards, so if you want to train yourself (such as blocking the ball, Pumping and killing the ball...etc.) It is necessary to use the third party's collocation to carry out the movement of the item, thus causing extreme inconvenience and trouble to the user.

In addition, the general billiard ball machine's serve direction can only be used by left and right and up and down Rotating to change the direction of the serve, can not do the front and rear left and right, that is, the change of the serve position, so that the function of the ball machine is limited, can not do more complex mode for the user to do training. For example, the billiard training of pushing the side flutter, the general ball machine can only rotate left and right to serve the ball, and it is impossible to do the right-to-left movement to serve the pairing mode.

In view of this, in order to train the billiard players to receive more realistic ball machine training, 遂 Design a new multi-axis billiard tee system that integrates an articulated robotic arm and a billiard tee. When the multi-axis billiard serving system is activated, the robot moves the billiard ball serving device of the wrist according to the advance path plan, and the billiard ball serve device immediately after reaching the predetermined point, thereby achieving the purpose of training the player; and the multi-axis billiard serving The system records the number of servings of the billiard tee and is used to evaluate the training results of the trainees.

The multi-axis billiard serving system includes an articulated mechanical arm, the articulating machine The arm has a plurality of joints, a robot arm wrist end and a computer control system, wherein the articulated robot arm drives the plurality of joint movements according to the computer control system, so that the arm end of the robot arm can be in a three-dimensional space Moving and steering; a billiard serving device having an electrical switch, when the electrical switch receives a trigger signal, the billiard serving device can be used as a serving action, wherein the billiard serving device is fixedly coupled to the arm of the robot And a controller electrically connected to the computer control system of the articulated robot arm and an electrical switch of the billiard ball serving device for transmitting a signal for starting or closing the articulated robot arm, and outputting the electric The trigger signal of the sex switch.

The controller is electrically connected to a display for displaying the articulated robotic arm The movement track and the serve speed of the billiard teeing device; in addition, the articulated robot arm can be a Six-axis industrial robot.

The preferred embodiments described in this specification are intended to be illustrative of the present invention, and thus it is understood that some examples of variations, combinations, partial combinations, adjustments, changes, etc. of the preferred embodiments of the present invention are not It can also be implemented without departing from the spirit and spirit of the invention.

01‧‧‧Assembly robot

02‧‧‧ joint

03‧‧‧Machine arm wrist end

04‧‧‧Computer Control System

05‧‧‧ billiard ball serving device

06‧‧‧Electrical switch

07‧‧‧ Controller

08‧‧‧ display

09‧‧‧ball table

Figure 1 is a schematic representation of the front side of the creation.

Figure 2 is a block diagram of the system of this creation.

Referring to Figures 1 and 2, the present invention is a multi-axis billiard serving system comprising: an articulated robotic arm 01 located on one side of a table 09 having a plurality of joints 02, a robot arm wrist end 03 and a computer control system 04, wherein the articulated robot arm 01 drives the plurality of joints 02 according to the computer control system 04, so that the robot arm wrist end 03 can be in a three-dimensional space. The billiard serving device 05 has an electrical switch 06. When the electrical switch 06 receives a trigger signal, the billiard serving device 05 can be used as a serving action, wherein the billiard serving device 05 is fixed. Connected to the arm end 03 of the robot arm; and a controller 07 electrically connected to the computer control system 04 of the articulated robot arm 01 and the electrical switch 06 of the billiard ball delivery device 05 for transmitting the start or The signal of the articulated robot arm 01 is turned off, and the trigger signal is output to the electrical switch 06.

The controller 07 is electrically connected to a display 08 for displaying the motion track of the articulated robot arm 01 and the serve speed of the billiard ball service device 05. In addition, the articulated robot arm 01 can be a six-axis industrial robot.

In order to improve the authenticity of the simulation, the controller 07 further includes a plurality of setting buttons for setting the movement track and the serving speed of the billiard serving device 05 to provide different training modes. In addition, the controller 07 can be a Program controller.

01‧‧‧Assembly robot

02‧‧‧ joint

03‧‧‧Machine arm wrist end

04‧‧‧Computer Control System

05‧‧‧ billiard ball serving device

06‧‧‧Electrical switch

07‧‧‧ Controller

08‧‧‧ display

09‧‧‧ball table

Claims (5)

A multi-axis billiard serving system includes: an articulated robot arm having a plurality of joints, a robot arm wrist end, and a computer control system, wherein the articulated robot arm drives the plurality of joints according to the computer control system Movement, enabling the arm end of the robot to move and steer in a three-dimensional space; a billiard serving device having an electrical switch that can cause the billiard serving device to serve when the electrical switch receives a trigger signal Action, wherein the billiard ball serving device is fixedly coupled to the wrist end of the robot arm; and a controller electrically connected to the computer control system of the articulated robot arm and the electrical switch of the billiard ball serving device for transmitting The signal of the articulated robot arm is turned on or off, and the trigger signal is output to the electrical switch. The multi-axis billiard serving system of claim 1, wherein the controller is electrically connected to a display for displaying a motion track of the articulated robot arm and a teeing speed of the billiard ball serving device. The multi-axis billiard serving system of claim 1, wherein the articulated robot arm is a six-axis industrial robot. The multi-axis billiard tee system of claim 1, wherein the controller is a programmable controller. The multi-axis billiard serving system of claim 1, wherein the controller further comprises a plurality of setting buttons for setting a movement track and a serving speed of the billiard serving device.