WO2001015782A1

WO2001015782A1 - Ball-batting implement testing device

Info

Publication number: WO2001015782A1
Application number: PCT/JP1999/004730
Authority: WO
Inventors: Yumi Kanemitsu; Jun Nishibayashi
Original assignee: Sumitomo Rubber Industries, Ltd.
Priority date: 1998-03-05
Filing date: 1999-09-01
Publication date: 2001-03-08

Abstract

The testing device which comprises a first joint extending upright from a base (11), a final joint having attached thereto a holder (24) for holding the grip of a ball batting implement, an intermediate joint disposed between the first and final joints, these first, intermediate and final joints being successively connected and adapted to be rotated by individual driving devices, wherein a ball batting implement held by the holder of the final joint is subjected to swing turning in the X-, Y- and Z- directions and/or turning around the longitudinal axis of the ball batting implement held by the holder, enabling adjustment for increase or decrease of the distance from the base to the batting plane corresponding to the motion of a person swinging his arm up and then down with the hand gripping the ball batting implement, or adjustment for change of the angle of the batting plane corresponding to the adduction or abduction of the arm and/or adjustment for change of the angle formed between the longitudinal center axis of the ball batting implement and the base.

Description

Description Ball hitting test equipment Technical field

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hitting device for hitting a ball, and more particularly, to a hitting device applicable to hitting devices such as tennis, pat minton, squash, table tennis, golf clubs, and baseball bats. It is suitably used as a device, and a robot can hold a tennis racket and perform various operations during a stroke performed by holding a tennis racket. This makes it possible to quantitatively evaluate the performance and spin performance. Background art

Conventionally, various studies have been conducted on a test hitting device for a hitting tool such as a tennis racket so as to be closer to a state where a person is actually hitting a ball.

For example, as a conventional tennis racket hitting device, the JSME [No. 940-9] AVD Symposium Lecture Paper P128, The Japan Society of Mechanical Engineers [No. 95-28] And Vibration Control ”Symposium Proceedings P 170, The Japan Society of Mechanical Engineers [N 0.9.5— 17] Robotics Mechatronics Lecture Meeting '95 Proceedings (Vol.B) P 1 260, Nippon Kikai It has been disclosed in literature such as the academic society [No. 96-20] Symposium Proceedings P35, Nikkei Mechanical 1995. 5. 15 no. 454 P66.

The tennis racket hitting device reported in the above document has the configuration shown in FIG. The test hitting device is designed so that a human grasps the tennis Designed to take into account the complex movement of translation and rotation when hitting the ball, the minimum degree of freedom required to perform the translation and rotation of the racket It is a two-joint robot with

That is, the test hitting device rotates the first joint 2 directly (S axis rotation) by the motor 1 in the direction of the arrow, and connects one end of the connecting plate 3 to the first joint 2 and the other end of the connecting plate 3. The second joint 4 is attached rotatably to the first joint, the first joint 2 and the second joint 4 are linked via a timing belt 5, and the second joint 4 is rotated in the direction of the arrow by the motor 1 (T-axis rotation). are doing. A rack holder 6 is fixed to the second joint 4, and a grip 8 a of a tennis racket 8 is inserted and fixed to the rack holder 6.

The above-mentioned two-joint test hitting device is driven by one driving device (motor 1), and rotates the S-axis of the first joint 2 (corresponding to a human shoulder) and the second joint 4 (to the human wrist). The T-axis rotation of <Equivalent>) is a synchronous rotation, and can reproduce the hitting motion of a tennis volley.

Further, as shown in FIGS. 11 and 12, the bracket holder 6 absorbs an impact on the inner peripheral surfaces of the two fixtures 6 a and 6 b formed by halving a metal cylinder. A rubber sheet 6c is provided, and the grip 10a of the tennis racket 10 is sandwiched between the fixtures 6a and 6b via the rubber sheet 6c, and the fixtures 6a and 6b are attached. The rack 10 is held by tightening with the screw 6d.

The Eihei 2-joint test hitting device was developed to measure the mechanical characteristics of the racquet during tennis volleying, so it can only evaluate the performance of the tennis racket during volleying. The performance of the tennis racket at one time cannot be evaluated by the tennis robot. The tennis racket is rated better for stroke and control than for volleys. Evaluation of performance and spin performance is important. As described above, the conventional hitting device is a horizontal two-joint hitting device, so that there is a problem that the performance cannot be evaluated during a stroke.

Specifically, tennis swings vary not only within a single swing plane, but also due to the player's upper body rising and arm swinging. In addition, in order to apply a spin during serving, a change in the racket surface due to the adduction of the arm is necessary. The volley does not simply hit the ball with the racquet surface vertical, but also performs an effective volley by changing the angle of the longitudinal center axis of the racquet with respect to the ground due to the up and down of the wrist and the abduction of the arm be able to.

A variety of movements, such as the above-mentioned vertical movement with rotation following the movement of the upper body, adduction and abduction of the arm, and rotation with the twist of the wrist accompanying the vertical movement of the wrist, are performed from the horizontal two-joint robot. It cannot be reproduced with the test hitting device shown in Fig. 10.

Also, in the above-mentioned test hitting device, the ball collision velocity is as low as about 5 mZsec, which is extremely low, and it is described in the above literature that a maximum of about 3 OmZsec is possible, but it has not been proven.

However, the head speed during the stroke of the tennis racket ranges from 10 to 30 / sec for hardball and 50 m / sec for softball. In addition, the head speed is about the same for beginners as for beginners. 10 sec earlier and wrist angular velocity is about 700. s e c early (Science of new tennis tennis jar one edition P70-P77).

The most noticeable difference between the swings of the players is the swing speed, particularly the difference in the wrist swing speed. Therefore, the test hitting apparatus is required to be able to adjust the head speed of the racket within the range of δδδ ϋΐ δδec. However, as mentioned above, Since the ball collision speed of 4 is about 5 mZ sec, it cannot follow high speed.

In addition, it is necessary to be able to freely adjust the rotation speed of the entire test hitting device and the rotation speed around the wrist according to advanced users and beginners. However, in the test hitting device shown in Fig. 10, since the first joint and the second joint are driven by one motor, the rotation speed of the entire test hitting device (the rotation speed of the first joint) and the rotation around the wrist. The rotation speed (the rotation speed of the second joint) cannot be freely and independently adjusted.

Furthermore, the bracket 6 made of metal and rubber used in the test hitting device shown in Fig. 10 cannot absorb the shocking strain applied to the bracket 6 due to the collision of the ball during a high-speed swing. However, when the hitting test was repeated with the test hitting device, there was a problem that the racket was broken at the shaft portion or the throat portion.

The present invention has been made in view of the above-described problem, and has as its first object to reproduce a stroke operation of a hitting device for a hitting tool such as a tennis racket. A second challenge is to be able to adjust the ball collision speed from low to high speed, and to be able to independently adjust the rotation speed of the entire test hitting device and the rotation speed of the wrist. Still another object is to allow the racquet holding tool to be closer to a state in which a person grasps the hitting tool so as to be able to hold the hitting tool. Disclosure of the invention

In order to solve the above-mentioned problems, the present invention provides a method according to claim 1, wherein a first joint in a vertical direction standing upright from the base and a final joint to which a holding tool for holding a holding portion of a hitting tool is attached. An intermediate joint is interposed, the first joint, the intermediate joint, and the final joint are sequentially connected, and each joint is rotated by a separate drive device. 0

5 Then, the hitting tool held by the holding tool of the final joint is rocked and rotated in the χ _Υ Υ and ζ directions, or Ζ and the rotation of the hitting tool held by the holding tool is set as the axis of rotation. Adjusting and increasing / decreasing the distance from the base of the ball striking surface corresponding to the operation of swinging the arm up and down with the ball striking tool, and adjusting the angle of the ball striking surface corresponding to the adduction and abduction of the arm · Adjustable and / or adjustment of the angle between the central axis in the longitudinal direction of the ball hitting tool and the base · Adjustable.

Specifically, as the intermediate joint connected between the first joint and the final joint, which is a turning head that turns the body left and right, it is connected to the upper end of the first joint (S1 axis) and摇 The lower arm joint (L axis) that moves, the upper arm joint (U axis) that is connected to the lower arm joint (L axis) and swings up and down, is connected to the upper arm joint (U axis) and rotates in the longitudinal direction A wrist joint (R axis) that rotates as an axis, a wrist swing joint (Β axis) that is connected to the tip of the wrist joint (R axis) and rotates up and down, and is connected to the wrist swing joint (Β axis) Equipped with a wrist rotating joint (Τ 1 axis)

The wrist rotating joint is further provided with a wrist-accelerated rotating joint (Τ2 axis) that horizontally turns as the final joint, an extension plate is attached to the final joint, and the hitting tool made of a tennis racket is held at the tip of the extension plate. Holding the tool (Claim 2).

In a hitting ball test hitting device having the above configuration, for example, in the case of a tennis rack test hitting device, a vertical rotary shaft for swinging up the rack, a rotary shaft for arm adduction / abduction, and a longitudinal center shaft of the racket. Because it has a rotation axis that can change the angle to the ground, it can reproduce a variety of hitting actions such as spin hits during stroke and serve, and volleys close to actual play.

In addition, since each joint is driven by an independent drive (motor), the rotation speed can be adjusted separately, and the different spins vary by player. Features can be reproduced. Furthermore, the rotation speed of the entire test hitting device and the rotation speed of the joint that hits the wrist can be adjusted independently, so that the ball collision speed and the angular speed of the wrist can be independently and freely adjusted.

In addition, by attaching an extension plate to the final joint of the hitting tool holder and fixing it to its free end, the turning radius of the hitting tool held by the holding tool and the head speed of the hitting tool can be increased. .

Since the intermediate joint is simultaneously rotated in the X, Υ, and Ζ directions, it is possible to reproduce the motion corresponding to the motion of swinging the arm up and down with the ball hitting tool up and down. This operation is performed by adjusting and increasing / decreasing the distance of the ball striking surface from the base (ground). At least the angle of the swing-up or swing-down, that is, the angle at which the straight line connecting the swing start point and the end point is the ground is determined. The operation (swing) may be performed in the range of 10 'to 10', more preferably in the range of 40 ° to + 40 °, and more preferably in the range of 170. It is more preferable that it is in the range of ~ 70 '.

In addition, since the ball is rotated about the longitudinal direction of the ball hitting tool, the motion corresponding to the adduction and abduction motion of the arm can be reproduced. This operation is performed by adjusting the angle and angle of the ball striking surface, and the angle range is at least one thirty. Preferably, it is adjustable and variable in the range of + 30 °, and more preferably, it is adjustable and variable in the range of at least 45 ° to 10 °.

Furthermore, the angle between the center axis in the longitudinal direction of the hitting tool and the base (ground) can be adjusted and changed, and the range can be adjusted and changed at least within the range of -10 ° to 10 °. It is preferable to be able to adjust and vary at least in the range of at least 45 ° to + 135 °, and at least in the range of at least 1 to 55 ° to 215 °.

The intermediate joint of the hitting tool is rotatably mounted above the first joint. A speed-increasing mechanism 15 that is rotated by a rotary drive separate from the first joint is attached, and the head speed of the hitting tool held by the final joint is set to 5 m / sec to 50 mZ sec. The range is adjustable. Therefore, it is possible to correspond to the head speed at the time of the ball hitting by an advanced player and to be able to correspond to the head speed at the time of the ball hitting by a beginner.

Further, in the hitting tool holder attached to the final joint, an elastic sheet is attached so as to include an air layer along the inner peripheral surface of the rigid cylindrical portion, and air is injected into the air layer to form the elastic shell. The configuration is such that the gripper of the hitting tool that has passed through the inner diameter of the above-mentioned cylindrical portion is gripped by expanding the tip. Further, the holding tool is configured to be able to hold the hitting tool with a pressure of 0.5 to 5 kgf Z cm ² .

What the range of 0. 5~5 kgf Z cm ² the holding pressure of the retainer, scratches quality reaper gripping Tenisurake' bets is less than 0. 5 kgf Z cm ^2, also a 5 kgf Z c m2 Exceeding this will cause the racket to become abnormally distorted because it exceeds the pressure at which humans grip the racket.

Specifically, the elastic sheet attached to the inner peripheral surface of the cylindrical portion so as to include an air layer is formed of an elastic tube having a hollow peripheral wall adhered to the inner peripheral surface of the cylindrical portion. An air injection passage is formed in the side wall of the portion and the outermost wall of the elastic tube to penetrate them, and a check valve is provided in the air injection passage so that air injected into the tube from outside is sealed. Like that. An elastic sheet attached to the inner peripheral surface of the cylindrical portion so as to include an air layer inserts an elastic tube into the inner diameter portion of the cylindrical portion, and the upper end and the lower end opening of the cylindrical portion of the elastic tube. An extra length portion protruding from the cylindrical portion is folded back and tightly fixed to the outer peripheral surface of the cylindrical portion, and an air injection passage communicating with a gap between the inner peripheral surface of the cylindrical portion and the elastic tube is provided on a side wall of the cylindrical portion. And a check valve is provided in the air injection passage so that air injected into the gap from the outside can be provided. They are sealed.

In the above-mentioned holding tool, the hitting tool is gripped by an elastic sheet (elastic tube) inflated by air pressure, so that it is possible to approximate a state where a person grips with the palm. In other words, the ball is gripped by the elastic force of the elastic sheet and the air pressure, so that when the ball hits the ball in the gripping state, the elastic sheet is greatly deformed, and the ball is gripped by this. Moves greatly. Therefore, for example, when the player hits the ball while gripping the tennis racket, the impact force at the time of hitting can be effectively relaxed, and the disadvantage that distortion is concentrated on the shaft portion of the tennis racket and the throw and the portion can be eliminated. . BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a front view of a test hitting device according to a first embodiment of the present invention,

FIG. 2 is a perspective view showing the operation direction of the test hitting device,

FIG. 3 is a drawing showing the operating area of the above-mentioned test hitting device,

FIG. 4 is a drawing showing an example of the operation of the tennis racket by the above-mentioned hitting device, FIG. 5 is a drawing showing an example of the operation of the tennis racket by the above-mentioned hitting device, and FIG. 6 is an example of the operation of the tennis racket by the above-mentioned hitting device. FIG. 7 is a perspective view of a holder attached to the test hitting device,

FIG. 8 is a sectional view of the holder,

FIG. 9 is a front view of a second embodiment of the present invention,

FIG. 10 is a front view showing a conventional test hitting device,

Fig. 11 is a perspective view of the tennis rack holder of the conventional tennis rack test device,

FIG. 12 is a side view showing an example of a test hitting device using the holder shown in FIG. BEST MODE FOR CARRYING OUT THE INVENTION

An embodiment of the present invention will be described with reference to the drawings.

The test hitting apparatus shown in FIGS. 1 to 8 of the embodiment is for a tennis racket. A first joint (S 1 axis) 11 consisting of a swivel head is erected on a base 10, and the first joint 11 1 A second joint (S2 axis) 12 consisting of a speed-up turning head is mounted on the upper part of. A third joint 13 serving as a lower arm joint (L-axis) is rotatably connected to a tip of an upper protruding portion 12 a of the second joint 12 via a shaft 14. A link 15 is rotatably connected to one end of the third joint 13 via a shaft 16, and a tip of the link 15 and a tip of the third joint 13 are connected to a fourth joint (an upper arm joint). (U axis) Connected to 17.

The base of a fifth joint (R-axis) 18 that becomes a wrist swivel joint is rotatably connected to the tip of the fourth joint 17, and the sixth joint that becomes a wrist swing joint is attached to the tip of the fifth joint 18. A part of the outer peripheral surface of the (B axis) 19 is fixed, and a seventh joint (T 1 axis) 20 which is a wrist rotating joint is fixed to the other part of the outer peripheral surface of the sixth joint 19. .

An L-shaped connecting plate 21 is fixed to the end of the seventh joint 20, and an eighth joint (T 2 axis) 22 serving as a wrist-accelerated rotating joint is connected to the end of the connecting plate 21. An extension plate 23 made of a metal plate (such as aluminum) is fixed to the end of the eighth joint 22, and a holding member 24 that holds the grip 8 a of the tennis racket 8 is fixed to the end of the extension plate 23. are doing.

The first joint 11, the eighth joint 22 of the final joint, and the second to seventh joints of the intermediate joints sequentially connected between the first and eighth joints are driven by independent motors, respectively. Let me. That is, the turning heads of the first joint (S 1 axis) 11 and the second joint (S 2 axis) 12 have motors M 1 and M 2 respectively inside the housing accommodating the rotating axes. It is housed and swung in the X direction (left and right direction) in the same rotation direction indicated by arrows S and S1 in the figure. 3rd joint (L Axle 13 is a motor M3 attached to the shaft attachment part, and swings in the y direction (front-back direction) indicated by arrow L in the figure. The fourth joint (U axis) 17 is oscillated in the Z direction (up and down directions) indicated by arrow U by a motor M4 mounted on the rear side opposite to the motor M3. The fifth joint (R axis) 18, the sixth joint (B axis) 19, the seventh joint (T 1 axis) 20 are the motors M 5, M 6, mounted on the base side of the fourth joint 17. M7 rotates in the x, y, and z directions indicated by arrows R, B, and T1, respectively. The motor M 8 of the eighth joint (T 2 axis) 22 of the final joint is mounted on the connecting plate 21, and one end of the extension plate 23 is fixed to the output shaft.

As described above, by driving the first to eighth joints with the separate motors M1 to M8, the rotation speed of each joint can be adjusted independently and arbitrarily.

The holder 24 attached to the distal end of the eighth joint 23 of the final joint is moved by the simultaneous rotation of the first joint to the eighth joint in the X-axis, Y-axis, and Z-axis directions. As shown in Fig. 3, it operates within a wide area in the X, Y, and Ζ directions. In particular, the seventh joint 20 and the eighth joint 22 are offset from the dimension L1 (300 mm in the illustrated embodiment) by the dimension L2 (in the illustrated embodiment). In this case, the holding bracket 24 is attached to the end of the tennis racket, and the turning radius (shown by a solid line in FIG. 3) of the tennis racket 8 held by the holding bracket 24 is increased to increase the tennis racket. 8 can increase the head speed. In FIG. 3, a region indicated by a dashed line is a rotation operation region of the hitting tool when the holding tool is attached to the seventh joint 20. The tennis racket 8 is held by the holder 26 as described above, and the body composed of the first, second, third, and fourth joints is rotated in the X, Y, and Ζ axis directions, and at the same time, the wrist is formed. Since the fifth, sixth, seventh, and eighth joints are further rotated in the x, y, and z directions, the tennis racket 8 performs the operations listed below. 99/04730

1 1

That is, as shown in FIG. 4, the tennis racket 8 has a function of adjusting the distance between the tennis racket 8 and the ground G, and the height of the hitting surface 8b of the tennis racket 8 can be easily adjusted. It is also possible to increase the distance between the tennis racket 8 and the ground (base) G (to swing the tennis racket up) and decrease the distance (to swing down the tennis racket). In this way, it is possible to swing so that the straight line connecting the swing start point and the end point has an angle with respect to the ground. This operation is performed by the third joint 13 (L-axis) and the fourth joint 17 ( This is performed by rotating the 5th joint 19 (B axis). In addition, the angle at which the straight line connecting the swing start point and the end point becomes the ground can be operated (swing) at least in the range of 110 ° to 110 ′. It is preferably in the range of 140 °, more preferably in the range of 170 ° to 170 °.

Further, as shown in FIG. 5, the tennis racket 8 has a function of rotating the tennis racket 8 with the rack longitudinal direction as a rotation axis, that is, a function corresponding to an adduction / abduction operation of the player's arm. 8b angle adjustment · Variable. Preferably, the angle range is adjustable and variable at least in the range of 30 ° to +30 ′, and at least one more. More preferably, it is adjustable and variable in the range of ~ 15 to 5 '.

It is also possible to perform the above-mentioned rotation at the time of swing, and in this case, it is possible to reproduce a hit such as applying a spin to the ball hit by the tennis racket 8. This operation is performed by adjusting the rotation of the fourth joint 18 (R axis).

Further, as shown in FIG. 6, the tennis racket 8 has a function of changing an angle α formed between the longitudinal center axis of the tennis racket 8 and the ground G. This during the swing It is also possible to change the angle α, and this movement can be centered by the rotation of the third joint 13 L axis) the fourth joint 17 (U axis) and the sixth joint 19 (Β axis). it can. It is preferable that the range of the angle α can be adjusted and changed in a range of at least 10 ° to + 10 °, and at least a range of 14 ° to 1035 °, and It is preferable that the adjustment can be made at least in the range of 55 'to 1215 ·.

Furthermore, two turning heads for turning the main body in the horizontal X direction are formed in the first joint 11 and the second joint 12 for speed increase, and are rotated by separate motors Μ1 and Μ2, respectively. By doing so, the rotation of the tennis racket 8 during swing can be accelerated. Thus, the head speed of the tennis racket 8 held by the final joint can be adjusted over a wide range from 5 mZ sec to 50 m / sec.

The holder 24 has the configuration shown in FIGS. 7 and 8, and has a shaft length of 70 mm and an inner diameter of 70 mm. In addition, an annular styrene-butadiene rubber (SBR) having a hollow peripheral wall whose height is almost equal to the height of the aluminum cylinder 101 and whose outer peripheral length is almost equal to the inner peripheral length of the aluminum cylinder 101 The outer peripheral surface of the rubber tube 102 made of a metal is adhered. Modulus of the rubber tube is 5 x 1 0 ⁷ dynZcm ^2, a thickness of 2. 5 mm. The outermost wall 103 bonded to the inner peripheral surface of the cylinder 101 of aluminum cylinder 101 and the side wall 101 b of the rubber tube 102 has air 4 mm in diameter penetrating them. An injection path 104 is formed, and air is externally injected into the hollow portion 102 a of the rubber tube 102 through the air injection path 104. A check valve 105 is provided inside the air injection passage 104 so that the air injected into the hollow portion 102a of the rubber tube 102 is sealed. The air pressure in the hollow portion 102a of the rubber tube 102 is adjusted by the amount of air injected from the outside. This holder 2 4 It is fixed to the end of the extension plate 24 by bolts or the like.

In the gripping operation of the grip 8 a of the tennis racket 8 by the holder 24, first, the grip 8 a of the tennis racket 8 is inserted into the inner diameter portion of the aluminum cylinder 101 of the holder 24. Then, air is fed into the hollow portion 102 a of the rubber tube 102 through an air injection passage 104 by an air pump (not shown) so that the inside of the hollow portion has a desired air pressure. 2 is inflated, and the grip portion of the tennis racket is pressed and gripped by the inner peripheral surface of the rubber tube 102.

When the above-mentioned holder 24 is used, the distortion applied to the rack at the time of hitting the ball is much smaller than the case where a conventional holder is used, when the human grasps the racket and hits the ball. Approximate. That is, as in the case where a human grasps the racket and hits the ball, a large distortion is not applied to the throat portion and the shaft portion of the racket, and the distortion applied to the racket causes the human to grasp the racket and hit the ball. It is attenuated periodically as in the case of hitting. The present invention is not limited to the above embodiment, and the distance L1 between the seventh joint 20 and the eighth joint 22 and the distance L2 between the eighth joint 22 and the holder 24 can be variously changed. For example, in a modified example of the first embodiment, the distance L1 is set to 30 Omm, which is the same as that of the first embodiment, and the distance 2 is set to 1200 mm.

FIG. 9 shows a second embodiment, in which one turning head is used, and a holder 24 is directly fixed to the lower part of the seventh joint 20, and the tennis racket 8 is held by the holder 24. Like that. That is, there are six joints except for the second joint (S 2 axis) and the eighth joint (T 1 axis).

(Experimental example)

The test hitting test of the first embodiment (Experimental example 1), the modification of the first embodiment (Experimental example 2), and the test hitting apparatus of the second embodiment (Experimental example 3) was performed by attaching a tennis racket to the holder 24. And tennis luggage maximum head speed, book The rotation speed of the body (joints 1 to 4), the clip rotation speed, and the swing angle of the varnish bracket were measured. The head speed of the above tennis racket was calculated from the time when the tennis racket passed between lasers installed at intervals of 100 mm. The rack swing angle indicates the difference in the position of the rack head between the start and end of the swing with respect to the ground. The rake face angle is the angle when the gripping position of the grip 8a is set to 0 ° so that the racquet striking face 8b is perpendicular to the ground. The longitudinal axis angle of the racket is the angle of the longitudinal center axis of the racket to the ground.

In Experimental Example 1, the S1 and S2 axes of the first and second joints were rotated at 300 ° Z sec, and the Tl and Τ2 axes of the seventh and eighth joints were rotated at 680 'Z sec. . Experimental example 2 was the same as experimental example 1. In Experimental Example 3, the S1 axis is 150. e c, T 1 axis 340. Rotated at / sec.

Table 1 below shows the results of the test hit test.

〔table 1 〕

As shown in Table 1 above, the head speed of the tennis racket could be obtained up to 28 m / sec in Experimental Example 1 and up to 49 m / sec in Experimental Example 2. Experimental example 3 also achieved 1 O m Z sec, but when adding the eighth joint, attaching an extension plate, and holding the bracket at the end with a holder, the head speed was increased. It was confirmed that it could be done quickly. In addition, the rotation speed of the main body (lower arm, upper arm) and the wrist gripping the grip of the tennis racket can be adjusted independently, and it was confirmed that the tennis racket can be swung up and down and the movement can be reproduced. . 7

16 Although the test hitting apparatus of the above embodiment is applied to a tennis racket, the holding tool holds other hitting tools, for example, bat minton, squash, table tennis, golf clubs, baseball pads, and the like. Therefore, it can be used as a test hitting device. Industrial applicability

As is clear from the above description, according to the hitting ball test hitting apparatus according to the present invention, the hitting tool is multi-jointed, each joint is rotated by an independent driving device, and the holding tool attached to the final joint is used. Therefore, the hitting tool can be simultaneously operated in the X, Υ, and Ζ directions, and the hitting tool can be rotated in a rotation direction about the longitudinal direction as a rotation axis. That is, adjustment and increase / decrease of the distance from the base of the ball striking surface corresponding to the operation of swinging the arm up and down with the ball hitting tool, and the angle of the ball striking surface corresponding to the adduction / abduction operation of the arm. Adjustable and variable, and the angle between the center axis of the ball and the longitudinal direction of the hitting tool and the base can be adjusted.

As a result, not only the volley driving of the hitherto proposed hitting device but also the striking operation at the time of stroke can be reproduced. Moreover, it is possible to reproduce not only flat hits during the stroke but also spin hits. In addition, since the surface angle and longitudinal axis angle of the racket can be changed, it is possible to reproduce volleys, spins during serving, etc., and to reproduce movements closer to the behavior of human players.

Furthermore, since each joint is operated by an independent drive device (motor), more complex behavior can be realized. That is, since the swing speed of the main body (arm) and the swing speed of the wrist can be adjusted independently, it can be used for both advanced users and beginners. The head speed during the tennis rack stroke can be adjusted in the range of 5 to 50 m / sec. Therefore, it can be used for both hard tennis, soft tennis, and advanced and beginner's head speed.

Further, according to the holder attached to the test hitting device of the present invention, the bag is formed by inflating a bag made of a rubber sheet and gripping the hitting tool with the elastic force of the rubber and the air pressure. The hitting tool can be held by approximating Therefore, it is possible to realize a state that is very similar to the state where a person actually hits the ball with the test hitting device, and measure various characteristics such as impact absorption and durability of the hitting tool in the actual use condition with the test hitting device. It becomes possible.

Claims

The scope of the claims

1. An intermediate joint is interposed between the vertical first joint standing from the base and the final joint to which the holding tool that holds the gripper of the hitting tool is attached.

One joint, intermediate joint, and final joint are sequentially connected, and each joint is rotated by a separate drive device, and the hitting tool held by the final joint holding tool is moved in the X, Υ, and Ζ directions. The base of the ball striking surface corresponding to the operation of rotating or rotating the ball hitting tool held by the holding tool with the longitudinal direction as a rotation axis, and swinging the arm up and down with the ball hitting tool up and down・ Adjustment of the distance of the ball from the ball ・ Adjustment of the angle of the ball striking surface corresponding to the adduction and abduction of the arm A hitting ball test hitting device characterized in that the hitting ball hitting device is configured to perform the hitting.

2. As an intermediate joint connected between the first joint consisting of a turning head that turns the body left and right and the final joint, it is connected to the upper end of the first joint (S1 axis). Lower arm joint (L axis) swinging back and forth, upper arm joint (U axis) connected to the lower arm joint (L axis) and swinging up and down, longitudinal direction connected to the upper arm joint (U axis) Wrist joint (R-axis) that rotates about the axis of rotation, wrist swing joint (Β-axis) that is connected to the tip of the wrist joint (R-axis) and rotates up and down, and wrist swing joint (Β-axis) Wrist rotation joint (関 1 axis)

The wrist rotating joint is further provided with a wrist-accelerated rotating joint (Τ2 axis) that horizontally turns as the final joint, an extension plate is attached to the final joint, and the hitting tool made of a tennis racket is held at the tip of the extension plate. The hitting ball test hitting apparatus according to claim 1, wherein the hitting tool is held.

3. The intermediate joint includes a speed-up joint (S2 axis) that is rotatably mounted on the upper part of the first joint and is rotated by a rotation drive device separate from the first joint, and is held by the final joint. 5 m _ / s 3. The hitting ball test hitting device according to claim 2, wherein the hitting tool is adjustable within a range of ec to 5 Om / sec.

4. The holding tool of the ball hitting tool attached to the final joint shall be fitted with an elastic sheet so as to enclose the air layer along the inner peripheral surface of the rigid cylindrical portion, and inject air into the air layer. by inflating the elastic sheet so as to grip the grip portion of the ball member through the inside diameter portion of the tubular portion, and claim 1 which is in the range of the holding force of 0. 5~ 5 kgf Z cm ² The ball hitting test device according to any one of claims 1 to 3.