CN102363073B - Badminton partner training robot mechanism - Google Patents
Badminton partner training robot mechanism Download PDFInfo
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- CN102363073B CN102363073B CN201110366272.XA CN201110366272A CN102363073B CN 102363073 B CN102363073 B CN 102363073B CN 201110366272 A CN201110366272 A CN 201110366272A CN 102363073 B CN102363073 B CN 102363073B
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Abstract
The invention discloses a badminton partner training robot mechanism, which comprises a support part, a vertical rotating mechanism and a hitting mechanism, wherein the vertical rotating mechanism is arranged on the support part; the hitting mechanism is arranged on the vertical rotating mechanism; the vertical rotating mechanism comprises a horizontal supporting seat arranged on the support part, a guide piece arranged on the horizontal supporting seat and a driving component used for driving the guide piece to rotate in a vertical plane vertical to a horizontal plane; and the hitting mechanism is arranged on the guide piece and can rotate in the vertical plane together with the guide piece. The badminton partner training robot mechanism is provided with the vertical rotating mechanism capable of driving the hitting mechanism to rotate in the vertical plane, can realize a lateral hitting function, and can replace a partner training person, so that the time and cost of sportsmen or badminton enthusiasts are saved.
Description
[technical field]
The present invention relates to the sports training apparatus field, particularly relate to a kind of badminton partner training robot mechanism.
[background technology]
Badminton is the sports that a kind of two people and even many people complete.At the volley, connecting service and how impacting shuttlecock is two very crucial steps, and sportsman or shuttlecock fan often need to do a large amount of receive training and spiking training in order to perfect to receive and impact shuttlecock.This just needs coach or ladder player to complete to receive and knock, but please coach and ladder player's somewhat expensive, and is subject to the restriction of time.
[summary of the invention]
Based on this, be necessary to provide a kind of badminton partner training robot mechanism, alternative ladder player's exercise is received and is batted.
For this reason, propose a kind of badminton partner training robot mechanism, it is characterized in that, comprising:
Support section;
Vertical rotation mechanism, described vertical rotation mechanism is arranged on described support section; And
Hit agency, described hit agency system is arranged in described vertical rotation mechanism;
Wherein, described vertical rotation mechanism comprises:
The horizontal supporting seat is to be arranged on described support section;
Guide, described guide is arranged on described horizontal supporting seat; And
Driven unit, rotate in the vertical plane perpendicular to horizontal plane in order to drive guide;
Wherein, described hit agency is be arranged on described guide and can rotate in described vertical plane with described guide.
In a preferred embodiment, described driven unit specifically comprises: vertical drive motor, pinion and gear wheel, and wherein said vertical drive motor is fixed on described horizontal supporting seat, and the output shaft of described vertical drive motor is horizontally disposed; Described pinion is fixed in the output shaft of described vertical drive motor and meshes with described gear wheel, and then is described gear wheel rotatablely moving in vertical plane by the conversion of motion that horizontally rotates of the output shaft of described vertical drive motor; Described guide is fixedly connected with described gear wheel.
In a preferred embodiment, also comprise motor cabinet, locating shaft, gear wheel, vertical axis bearing assembly and gear wheel connecting plate; Described motor cabinet is fixed in the outer ledge on the upper plane of horizontal supporting seat, and the output shaft of described locating shaft and described vertical drive motor arranges and be fixed in the outer ledge of the lower plane of horizontal supporting seat in the same way; The inner ring of described vertical axis bearing assembly is sheathed on described locating shaft, and described gear wheel is fixed in the outer ring of described vertical axis bearing assembly; Described vertical drive motor is fixed in the installing hole of described motor cabinet; Described pinion is fixed in the output shaft of described vertical drive motor and meshes with described gear wheel, and described gear wheel is fixed in described gear wheel connecting plate, and described guide is to be fixed on described gear wheel connecting plate.
In a preferred embodiment, also comprise rotation mechanism in vertical shaft, described rotation mechanism in vertical shaft comprises horizontal motor bearing seat, horizontal drive motor, small drive gear, horizontal bearing assembly, internal gear, wherein horizontal motor bearing seat is fixed on support section, described horizontal drive motor is fixed in the circumferential apertures of described horizontal motor bearing seat, and the outer ring of described horizontal bearing assembly is positioned in the centre bore of described horizontal motor bearing seat; Described internal gear is fixed in the inner ring of described horizontal bearing assembly and meshes with described small drive gear, and described small drive gear is fixed on the output shaft of described horizontal drive motor, and meshes and drive described internal gear to horizontally rotate with described internal gear; The horizontal supporting seat system of wherein said vertical rotation mechanism is arranged on the upper surface outer ledge of described internal gear.
In a preferred embodiment, described hit agency comprises: slide block assembly, and described slide block assembly is connected with described guide and is movable in set scope with respect to described guide; The racket holder is be connected with slide block assembly and can move with described slide block assembly is movable; And driving mechanism, be to drive described slide block assembly to move with respect to described guide.
In a preferred embodiment, described driving mechanism specifically comprises: undersetting, shaft coupling, drive motors, screw-drive mechanism; Described screw-drive mechanism comprises screw rod and nut, and wherein said nut is fixedly connected with described slide block assembly; Described drive motors is fixed on undersetting; Described shaft coupling one end is connected in the output shaft of described drive motors, and the other end is connected in the screw rod of described screw-drive mechanism.
In a preferred embodiment, described hit agency also comprises guide rod, and an end of described guide rod is arranged on described undersetting, and described slide block assembly is arranged on described guide rod, and described guide is provided with axis hole; Described hit agency also comprises connecting rod, is arranged on the upper bracket of the other end of described guide rod, and described upper bracket is provided with the rotating shaft with the axis hole pivot joint of guide; Described connecting rod one end and racket holder are rotationally connected, and the other end of described connecting rod and described slide block assembly are rotationally connected; Described racket holder is rotationally connected with described upper bracket simultaneously.
In a preferred embodiment, described racket holder is provided with two bearing pins close to each other, and described upper bracket is provided with the support arm with dead eye; Described connecting rod be provided with described racket holder on the dead eye that is rotationally connected of one of them bearing pin, the support arm of described upper bracket is rotationally connected by another bearing pin on described dead eye and described racket holder.
In a preferred embodiment, described guide is provided with for the movable cam path of installing of described slide block assembly, and described cam path forms or only consists of the tilting section horizontal by acute angle by the vertical section perpendicular to horizontal plane with horizontal by the tilting section of acute angle; Described slide block assembly is provided with described cam path and realizes the roller that cam is connected.
In a preferred embodiment, described support section comprises that described elevating mechanism is in order to drive described vertical rotation mechanism and described hit agency lifting for the elevating mechanism of described vertical rotation mechanism and the installation of described hit agency; And/or omnidirectional's four-wheel drive mobile platform, in order to drive described badminton partner training robot mechanism, between diverse location, move.
Above-mentioned badminton partner training robot mechanism, be provided with and can drive the vertical rotation mechanism that hit agency rotates in vertical plane, can realize side direction batting function, thus can substitute the ladder player, thus movement toward economizing person or shuttlecock fan's time and expense.
[accompanying drawing explanation]
The three-dimensional assembly diagram that Fig. 1 is badminton partner training robot mechanism;
The explosive view that Fig. 2 is badminton partner training robot mechanism;
The explosive view that Fig. 3 is mobile platform;
The explosive view that Fig. 4 is elevating mechanism;
The cutaway view that Fig. 5 is rotation mechanism in vertical shaft;
The cutaway view that Fig. 6 is vertical rotation mechanism;
The explosive view that Fig. 7 is vertical rotation mechanism;
The explosive view that Fig. 8 is hit agency;
The schematic diagram that Fig. 9 is hit agency and vertical rotation mechanism assembled relation;
The stereogram that Figure 10 is the initial default attitude;
The stereogram that Figure 11 is forward toe lift backswing;
The front view that Figure 12 is forward toe lift backswing;
The top view that Figure 13 is forward toe lift backswing;
The stereogram that Figure 14 is forward slam-shot backswing;
The front view that Figure 15 is forward slam-shot backswing;
The top view that Figure 16 is forward slam-shot backswing;
The stereogram that Figure 17 is side direction toe lift backswing;
The front view that Figure 18 is side direction toe lift backswing;
The top view that Figure 19 is side direction toe lift backswing;
The stereogram that Figure 20 is side direction slam-shot backswing;
The front view that Figure 21 is side direction slam-shot backswing;
The top view that Figure 22 is side direction slam-shot backswing.
[specific embodiment]
The basic conception of present embodiment is: a kind of badminton partner training robot mechanism system based on the law of conservation of momentum is provided.Learn that by the law of conservation of momentum shuttlecock should be equaled by the momentum after impacting by the momentum before impacting, i.e. law of conservation of momentum formula: MV1+M1V2=M1V+MV0.Wherein, M is racket and robot quality, and M1 is the shuttlecock quality, V1 brandishes speed for the front racket of batting, V2 is shuttlecock by self speed before being impacted, and V is that shuttlecock is impacted the initial velocity that rear moment obtains, V0 for batting after the speed of robot and racket.
In order to improve the result of use of badminton partner training robot mechanism, need badminton partner training robot mechanism can improve shuttlecock and impacted the initial velocity V that rear moment obtains, therefore badminton partner training robot mechanism preferably can effectively improve the front speed of swing V1 of racket batting, the i.e. speed of racket striking point on the ball position.
For this reason, propose a kind of badminton partner training robot mechanism, comprise support section; Vertical rotation mechanism, described vertical rotation mechanism is arranged on described support section; And hit agency, described hit agency system is arranged in described vertical rotation mechanism; Wherein, described vertical rotation mechanism comprises: the horizontal supporting seat is to be arranged on described support section; Guide, described guide is arranged on described horizontal supporting seat; And driven unit, in order to drive guide, in the vertical plane perpendicular to horizontal plane, rotate; Wherein, described hit agency is be arranged on described guide and can rotate in described vertical plane with described guide.
Below in conjunction with specific embodiment, badminton partner training robot mechanism is specifically described.
Please refer to accompanying drawing 1 and accompanying drawing 2, the badminton partner training robot mechanism of present embodiment comprises: support section 1, be installed on this support section 1 for elevating mechanism 2 that racket is moved up and down, be installed on the rotation mechanism in vertical shaft 3 that racket is swung flexibly in horizontal plane on this elevating mechanism 2, be installed on the vertical rotation mechanism 4 that racket is swung flexibly in the side direction vertical plane on this rotation mechanism in vertical shaft 3, and the hit agency 5 be installed in this vertical rotation mechanism 4 forms.
Please refer to accompanying drawing 3, described support section 1 is omnidirectional's four-wheel drive mobile platform, comprises platform motor bearing seat 1.1, omni-directional wheel assembly 1.3 and chassis lid 1.4, and certain described support section 1 also needs the integration platform drive motors.
Described omni-directional wheel assembly 1.3 is to be fixed on the output shaft of platform drive motors, the platform drive motors can locate and be fixed on platform motor bearing seat 1.1, chassis lid 1.4 is fixed on platform motor bearing seat 1.1, and described drive motors is stepping planetary gear reducing motor.
Please refer to accompanying drawing 4, described elevating mechanism 2 is comprised of lower support sleeve 2.1, lifting motor 2.2, lower bearing support assembly 2.3, lifting shaft coupling 2.4, lifting slider assembly 2.5, elevating screws transmission mechanism 2.6, lifting guide pillar 2.7, upper branching holder assembly 2.8, jacking sleeve 2.9, upper support sleeve 2.10, and the lower plane by its lower support sleeve 2.1 is fixed on the platform motor bearing seat 1.1 of support section 1.
Please refer to accompanying drawing 2 and accompanying drawing 5, described rotation mechanism in vertical shaft 3 is comprised of horizontal motor bearing seat 3.1, horizontal drive motor 3.2, small drive gear 3.3, horizontal bearing assembly 3.4, internal gear 3.5, Horizontal limiting piece 3.6, and rotation mechanism in vertical shaft 3 is fixed in the upper plane of the jacking sleeve 2.3 of described elevating mechanism 2 by the lower plane of its horizontal motor bearing seat 3.1.
The circumferential apertures of horizontal motor bearing seat 3.1 is located and be fixed in to the horizontal drive motor 3.2 of described rotation mechanism in vertical shaft 3, and horizontal bearing assembly 3.4 outer rings are positioned in the centre bore of horizontal motor bearing seat 3.1; Internal gear 3.5 is located and is fixed in horizontal bearing assembly 3.4 inner rings, and meshes with small drive gear 3.3; Small drive gear 3.3 is fixed on the output shaft of horizontal drive motor 3.2, and meshes and then drive horizontally rotating of internal gear 3.5 and corresponding mechanism with internal gear 3.5, thereby can realize horizontally rotating of racket.
Please refer to accompanying drawing 6 and accompanying drawing 7, described vertical rotation mechanism 4 is comprised of horizontal supporting seat 4.1, motor cabinet 4.2, vertical drive motor 4.3, pinion 4.4, locating shaft 4.5, gear wheel 4.6, vertical axis bearing assembly 4.7, gear wheel connecting plate 4.8, guiding side plate 4.9, vertical limited block 4.10, is fixed in plane on the internal gear 3.5 of described rotation mechanism in vertical shaft 3 by its horizontal supporting seat 4.1.
The motor cabinet 4.2 of described vertical rotation mechanism 4 is fixed in the outer ledge on the upper plane of horizontal supporting seat 4.1; Locating shaft 4.5 is fixed in the outer ledge of horizontal supporting seat 4.1 lower planes in the same way; The inner ring of vertical axis bearing assembly 4.7 is fixed on locating shaft 4.5, and locate and fixing gear wheel 4.6 outer ring; Vertical drive motor 4.3 is located and is fixed on the installing hole of motor cabinet 4.2; Pinion 4.4 be fixed on the output shaft of vertical drive motor 4.3 and with gear wheel 4.6 engagements, gear wheel 4.6 is fixed in gear wheel connecting plate 4.8, gear wheel connecting plate 4.8 both sides respectively are fixed with a guiding side plate 4.9.
Described guiding side plate 4.9 is provided with axis hole 4.9.1 and cam path 4.9.2, and two sections of tilting sections that cam path 4.92 can form an angle by vertical section with vertical direction form, and also can only one section tilting section, consist of.The vertical section of cam path 4.9.2 is for realizing the ability that impacts fast of hit agency 5, and tilting section is for realizing the horizontal toe lift function of hit agency 5, and the realization of above-mentioned functions hereinafter will further be narrated.
Please refer to accompanying drawing 8, described hit agency 5 is comprised of drive motors 5.1, undersetting 5.2, shaft coupling 5.3, screw-drive mechanism 5.4, cushion pad 5.5, guide rod 5.6, slide block assembly 5.7, Compress Spring 5.8, upper bracket 5.9, connecting rod 5.10, racket holder assembly 5.11.Described screw-drive mechanism 5.4, guide rod 5.6, slide block assembly 5.7, upper bracket 5.9, connecting rod 5.10, racket holder assembly 5.11 forms a quadric chain, and the rotating shaft 5.91 by its upper bracket 5.9 both sides realizes chain connection with the axis hole 4.9.1 of the guiding side plate 4.9 of described vertical rotation mechanism 4; Simultaneously, also the roller 5.7.1 by its slide block assembly 5.7 both sides realizes that with the cam path 4.9.2 of the guiding side plate 4.9 of described vertical rotation mechanism 4 cam is connected.In fact described drive motors 5.1, undersetting 5.2, shaft coupling 5.3, screw-drive mechanism 5.4, cushion pad 5.5, guide rod 5.6, Compress Spring 5.8, upper bracket 5.9 and connecting rod 5.10 have formed the driving mechanism that can drive slide block assembly 5.7 and 5.11 motions of racket holder assembly.
The drive motors 5.1 of described hit agency 5 is fixed in undersetting 5.2 belows; Screw-drive mechanism 5.4 is fixed on the bearing assembly of undersetting 5.2; The lower end of shaft coupling 5.3 is connected in the output shaft of drive motors 5.1, and upper end is connected in the screw shaft of screw-drive mechanism 5.4; The upper and lower side of guide rod 5.6 is individually fixed in the guide rod seat or guide rod installing hole of undersetting 5.2 and upper bracket 5.9; Slide block assembly 5.7 centre bores are fixedly connected with the nut step surface of screw-drive mechanism 5.4, its centre bore bilateral symmetry is provided with the linear bearing of guiding use, linear bearing and guide rod 5.6 are slidably connected, slide block assembly 5.7 is with after the nut of screw-drive mechanism 5.4 is connected like this, rotatablely moving of screw rod is transformed into to upper and lower rectilinear motion, and slide block assembly 5.7 accurately leads by guide rod 5.6 and cushion pad 5.5 bufferings upper and lower straight-line simultaneously; The bearing pin 5.11.1 that racket holder assembly 5.11 is set by racket net one side also is rotationally connected with the dead eye of the support arm 5.9.2 of upper bracket 5.9, the bearing pin 5.11.1 that it is set near racket handle one side and the dead eye of connecting rod 5.10 are rotationally connected, and the dead eye of connecting rod 5.10 other ends and the pitman shaft 5.7.2 of slide block assembly 5.7 are rotationally connected.When drive motors 5.1 obtains electric rotation, drive the screw rod of shaft coupling 5.3, screw-drive mechanism 5.4 to rotate together, rotatablely moving of screw rod converts the rectilinear motion of nut and slide block assembly 5.7 one to.The pitman shaft 5.7.2 of slide block assembly 5.7 promotes connecting rod 5.10, and connecting rod 5.10 promotes racket holder assembly 5.11 again and makes it the dead eye swing around the support arm 5.9.2 of upper bracket 5.9.Because the distance of the relative racket batter's box of spacing between two bearing pin 5.11.1 of racket holder assembly 5.11 is very little, can realize like this racket impacting fast shuttlecock.
The axis hole 4.9.1 of the rotating shaft 5.9.1 of upper bracket 5.9 both sides of described hit agency 5 and the guiding side plate 4.9 of vertical rotation assembly 4 is rotationally connected, and the cam path 4.9.2 of the roller 5.7.1 of its slide block assembly 5.7 both sides and the guiding side plate 4.9 of vertical rotation assembly 4 is slidably connected, make thus slide block assembly 5.7 under screw-drive mechanism 5.4 orders about, its two side wheel 5.7.1 is when the cam path 4.9.2 vertical section motion of guiding side plate 4.9, slide block assembly 5.7 promotes connecting rod 5.10 makes racket holder assembly 5.11 complete wobbling action, and when tilting section when motion of 5.7 liang of side wheel 5.7.1 of slide block assembly at the cam path 4.9.2 of guiding side plate 4.9, whole hit agency 5 swings around the axis hole 4.9.1 of the guiding side plate 4.9 of vertical rotation mechanism 4 again, therefore described guiding side plate 4.9 is actual, it is a guide, active path in order to guiding and restriction hit agency 5.
Described hit agency 5 also is provided with Compress Spring 5.8 between slide block assembly 5.7 and upper bracket 5.9, its objective is the resistance of start that overcomes drive motors 5.1 and the frictional force of mechanism, also strengthens the staring torque of drive motors 5.1 simultaneously.
The Main Function of described screw-drive mechanism 5.4 is to make to be become by rotatablely moving of screw rod the rectilinear motion of nut, and because the nut of screw-drive mechanism 5.4 is the centre bore that is fixed in slide block assembly 5.7, therefore rotatablely moving of screw rod forms nut, slide block assembly 5.7 combinations rectilinear motion together.
Described slide block assembly 5.7 is arranged with roller 5.7.1 and pitman shaft 5.7.2 in its outside, the body center of slide block assembly 5.7 is provided with the centre bore be fixedly connected with the nut of screw-drive mechanism 5.4, centre bore is symmetrically distributed with the slider guide hole, and linear bearing is fixed in the slider guide hole.
It may be noted that, the described slide block assembly 5.7 of present embodiment is by resolution element: the assembly that nut, slide block body, linear bearing, roller, pitman shaft form, certainly can be whole integrated sliding block, whole integrated slide block centre bore be threaded hole.
In present embodiment, described racket holder assembly 5.11 respectively is provided with the bearing pin 5.11.1 of two same sizes in its both sides, and described bearing pin 5.11.1 is located on an outstanding axle bed.Because racket is very long, racket system is fixed on described racket holder assembly 5.11, impacts part unsettled, therefore the lower end of described racket holder assembly 5.11 also is provided with balancing weight 5.11.2, in order to the deadweight with the balance racket.
Below in conjunction with accompanying drawing 10, to accompanying drawing 21, the badminton partner training robot mechanism that present embodiment is described is how by the initial default attitude, to be converted to the various backswings such as forward toe lift backswing, forward slam-shot backswing, side direction toe lift backswing and side direction slam-shot backswing to reach how to complete above-mentioned action.
Please refer to accompanying drawing 10, initial default attitude: when robot during in powering-off state or charged original state, elevating mechanism 2 is in lowest positions, and the slide block assembly 5.7 of hit agency 5 is in lower position, and rotation mechanism in vertical shaft 3 and vertical rotation mechanism 4 all mediate.
Forward slam-shot backswing: please refer to accompanying drawing 11 to accompanying drawing 13, when shuttlecock acquisition and tracking system acquisition and judge before shuttlecock is near net and position, dead ahead in badminton partner training robot mechanism while being near-net ball, control system is sent instruction, support section 1 is that omnidirectional's four-wheel drive mobile platform moves quickly into the front court correct position, and the lifting motor 2.2 of elevating mechanism 2 obtains electric hit agency 5 fast-descendings that make to certain position; Simultaneously, the screw rod that the drive motors 5.1 of hit agency 5 obtains electric driving screw-drive mechanism 5.4 is rotated in the forward, rotatablely moving of screw-drive mechanism is transformed into to the straight line ascending motion of nut and slide block assembly 5.7, slide block assembly 5.7 is climbed to upper limit position and is promoted connecting rod 5.10 by lower position, connecting rod 5.10 promotes the shaft swing of racket holder assembly 5.11 around close screen frame one side of himself again, now, the roller of slide block assembly 5.7 moves quickly into upper end position at the cam path 4.9.2 of guiding side plate 4.9 by lower end position; In addition, whole hit agency 5 is again around the rotating shaft 5.9.1 of its upper bracket 5.9 Integral swinging, to realize the backswing before racket toe lift from lower to upper; As the forward toe lift backswing of accompanying drawing 11, now, drive motors 5.1 is shut down and is braked.When toe lift, drive motors 5.1 releasing of brake electric motor startings reverse High Rotation Speed, slide block assembly 5.7 is fast-descending under the screw rod High Rotation Speed of Compress Spring 5.8 and screw-drive mechanism 5.4 drives, and the slide block assembly 5.7 of fast-descending drivening rod 5.10 again makes racket holder assembly 5.11 realize fast stroke.
Forward slam-shot backswing: please refer to accompanying drawing 14 to accompanying drawing 16, when shuttlecock acquisition and tracking system acquisition and while judging that shuttlecock is the forward high clear, control system is sent instruction, omnidirectional's four-wheel drive mobile platform moves quickly into the middle suitable position of back court, elevating mechanism 2 is in extreme higher position, and rotation mechanism in vertical shaft 3 and vertical rotation mechanism 4 are all in the initial default position.Now, the drive motors 5.1 of hit agency 5 obtains the screw rod forward High Rotation Speed of electric driving screw-drive mechanism 5.4, the high speed rotary motion of screw-drive mechanism is transformed into to the quick straight line ascending motion of nut and slide block assembly 5.7, the roller 5.7.1 of slide block assembly 5.7 moves quickly into the crossing corner position of straightway and tilting section at the cam path of guiding side plate 4.9 by lower end position, i.e. the roller 5.7.1 of slide block assembly 5.7 fast rise in the straightway of the cam path 4.9.2 of the side plate 4.9 that leads; As the forward slam-shot backswing of accompanying drawing 14, now, drive motors 5.1 is shut down and is braked.When slam-shot, drive motors 5.1 releasing of brake electric motor startings reverse High Rotation Speed, slide block assembly 5.7 is fast-descending under the screw rod High Rotation Speed of Compress Spring 5.8 and screw-drive mechanism 5.4 drives, and the slide block assembly 5.7 of fast-descending drivening rod 5.10 again makes racket holder assembly 5.11 realize quick forward slam-shot.
Side direction toe lift backswing: please refer to accompanying drawing 17 to accompanying drawing 19, when shuttlecock acquisition and tracking system acquisition and while judging shuttlecock edge near-net ball, similarly, omnidirectional's four-wheel drive mobile platform moves quickly into the front court correct position, and the lifting motor 2.2 of elevating mechanism 2 obtains electric hit agency 5 fast-descendings that make to certain position.Now, the horizontal drive motor of rotation mechanism in vertical shaft 3 3.1 electric and drive small drive gear 3.3 and drive internal gears 3.5 and be fixed thereon vertical rotation mechanism 4 and rotates together, according to the instruction of control system, can be that turning left moving can be also to turn right to move; The vertical drive motor 4.3 of vertical rotation mechanism 4 obtains electric and drive pinion 4.4 driving gear wheels 4.6 rotations, because gear wheel 4.6 is fixed on gear wheel connecting plate 4.8, gear wheel connecting plate 4.8 both sides are each fixed guide side plate 4.9 again, therefore the side plate 4.9 that leads drives hit agency 5 together with gear wheel 4.6 and rotates, according to the instruction of control system, can be that to rotate forward can be also to rotate backward.Simultaneously, the screw rod that the drive motors 5.1 of hit agency 5 obtains electric driving screw-drive mechanism 5.4 is rotated in the forward, rotatablely moving of screw-drive mechanism is transformed into to the straight line ascending motion of nut and slide block assembly 5.7, slide block assembly 5.7 is climbed to upper limit position and is promoted connecting rod 5.10 by lower position, connecting rod 5.10 promotes the shaft swing of racket holder assembly 5.11 around close screen frame one side of himself again, now, the roller 5.7.1 of slide block assembly 5.7 moves quickly into upper end position at the cam path 4.9.2 of guiding side plate 4.9 by lower end position; In addition, whole hit agency 5 is again around the rotating shaft 5.9.1 of its upper bracket 5.9 Integral swinging, to realize the backswing before racket toe lift from lower to upper; As the side direction toe lift backswing of accompanying drawing 17, now, drive motors 5.1 is shut down and is braked.When toe lift, drive motors 5.1 releasing of brake electric motor startings reverse High Rotation Speed, slide block assembly 5.7 is fast-descending under the screw rod High Rotation Speed of Compress Spring 5.8 and screw-drive mechanism 5.4 drives, and the slide block assembly 5.7 of fast-descending drivening rod 5.10 again makes racket holder assembly 5.11 realize fast stroke.
Side direction slam-shot backswing: please refer to accompanying drawing 20 to accompanying drawing 22, when shuttlecock acquisition and tracking system acquisition and while judging that shuttlecock is the side direction high clear, control system is sent instruction, omnidirectional's four-wheel drive mobile platform moves quickly into the correct position that the back court center line is taken back or taken over, and elevating mechanism 2 is in extreme higher position.Now, the horizontal drive motor of rotation mechanism in vertical shaft 3 3.1 electric and drive small drive gear 3.3 and drive internal gears 3.5 and be fixed thereon vertical rotation mechanism 4 and rotates together, according to the instruction of control system, can be that turning left moving can be also to turn right to move; The vertical drive motor 4.3 of vertical rotation mechanism 4 obtains electric and drive pinion 4.4 driving gear wheels 4.6 rotations, because gear wheel 4.6 is fixed on gear wheel connecting plate 4.8, gear wheel connecting plate 4.8 both sides are each fixed guide side plate 4.9 again, therefore the side plate 4.9 that leads drives hit agency 5 together with gear wheel 4.6 and rotates, according to the instruction of control system, can be that to rotate forward can be also to rotate backward.Simultaneously, the drive motors 5.1 of hit agency 5 obtains the screw rod forward High Rotation Speed of electric driving screw-drive mechanism 5.4, the high speed rotary motion of screw-drive mechanism 5.4 is transformed into to the quick straight line ascending motion of nut and slide block assembly 5.7, the roller 5.7.1 of slide block assembly 5.7 moves quickly into the crossing corner position of straightway and tilting section at the cam path 4.9.2 of guiding side plate 4.9 by lower end position, i.e. the roller 5.7.1 of slide block assembly 5.7 fast rise in the straightway of the cam path 4.9.2 of the side plate 4.9 that leads; As the side direction slam-shot backswing of accompanying drawing 20, now, drive motors 5.1 is shut down and is braked.When slam-shot, drive motors 5.1 releasing of brake electric motor startings reverse High Rotation Speed, slide block assembly 5.7 is fast-descending under the screw rod High Rotation Speed of Compress Spring 5.8 and screw-drive mechanism 5.4 drives, and the slide block assembly 5.7 of fast-descending drivening rod 5.10 again makes racket holder assembly 5.11 realize that fast side is to slam-shot.
It should be noted that, the badminton partner training robot mechanism of above-mentioned embodiment is complete and embodiment preferably, can realize: the various shots such as forward toe lift, forward slam-shot, side direction toe lift and side direction slam-shot complete above-mentioned action in the all-around mobile process more in the venue.But be understandable that, during the badminton partner training robot mechanism practical application of above-mentioned embodiment, realize above-mentioned functions in the time of also can be different.Concrete variation is as follows:
The function of rotation mechanism in vertical shaft 3 is that drive racket holder assembly 5.11 and racket rotate in horizontal plane, and in fact omnidirectional's four-wheel drive mobile platform also can be realized similar function, and the two exists simultaneously, and effect is better.
The effect of vertical rotation mechanism 4 is that racket holder assembly 5.11 and racket are rotated in vertical plane.In practical application, vertical rotation mechanism 4 can cancel, and only utilizes rotation mechanism in vertical shaft 3 or omnidirectional's four-wheel drive mobile platform.For example, in the situation that vertical rotation mechanism 4 cancels, as only utilized rotation mechanism in vertical shaft 3, badminton partner training robot mechanism can only be realized in the forward toe lift in original place and slam-shot function; In the situation that vertical rotation mechanism 4 cancels, if only adopt omnidirectional's four-wheel drive mobile platform, badminton partner training robot mechanism can comprehensively in the venue move fast, so also can indirectly realize the function of side direction toe lift and slam-shot; In the situation that vertical rotation mechanism 4 cancels, while usage level rotating mechanism 3 and omnidirectional's four-wheel drive mobile platform, can realize preferably omnibearing forward toe lift and forward slam-shot function in place, and realize omnibearing side direction toe lift and side direction slam-shot function in place.
Therefore in fact, racket holder assembly 5.11 can be directly installed on rotation mechanism in vertical shaft 3, even is arranged on elevating mechanism 2; Similarly, the guiding side plate 4.9 of vertical rotation mechanism 4 can be to be directly installed on rotation mechanism in vertical shaft 3, even integrates and is arranged on elevating mechanism 2.Aforesaid way also can be realized the batting function of racket holder assembly 5.11, the function quantity difference that just can realize, and effect is different.
Therefore in sum, be appreciated that the parts such as above-mentioned omnidirectional four-wheel drive mobile platform, elevating mechanism 2, rotation mechanism in vertical shaft 3, vertical rotation mechanism 4 and hit agency 5 can reasonably be used in combination, and not must all exist simultaneously.Certainly, the combination of different modes, the function difference that can realize, effect also is not quite similar.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (9)
1. a badminton partner training robot mechanism, is characterized in that, comprising:
Support section;
Vertical rotation mechanism, described vertical rotation mechanism is arranged on described support section; And
Hit agency, described hit agency system is arranged in described vertical rotation mechanism;
Wherein, described vertical rotation mechanism comprises:
The horizontal supporting seat is to be arranged on described support section;
Guide, described guide is arranged on described horizontal supporting seat; And
Driven unit, rotate in the vertical plane perpendicular to horizontal plane in order to drive guide;
Wherein, described hit agency is be arranged on described guide and can rotate in described vertical plane with described guide; Described driven unit specifically comprises: vertical drive motor, pinion and gear wheel, and wherein said vertical drive motor is fixed on described horizontal supporting seat, and the output shaft of described vertical drive motor is horizontally disposed; Described pinion is fixed in the output shaft of described vertical drive motor and meshes with described gear wheel, and then is described gear wheel rotatablely moving in vertical plane by the conversion of motion that horizontally rotates of the output shaft of described vertical drive motor; Described guide is fixedly connected with described gear wheel.
2. badminton partner training robot mechanism according to claim 1, is characterized in that: also comprise motor cabinet, locating shaft, gear wheel, vertical axis bearing assembly and gear wheel connecting plate; Described motor cabinet is fixed in the outer ledge on the upper plane of horizontal supporting seat, and the output shaft of described locating shaft and described vertical drive motor arranges and be fixed in the outer ledge of the lower plane of horizontal supporting seat in the same way; The inner ring of described vertical axis bearing assembly is sheathed on described locating shaft, and described gear wheel is fixed in the outer ring of described vertical axis bearing assembly; Described vertical drive motor is fixed in the installing hole of described motor cabinet; Described pinion is fixed in the output shaft of described vertical drive motor and meshes with described gear wheel, and described gear wheel is fixed in described gear wheel connecting plate, and described guide is to be fixed on described gear wheel connecting plate.
3. badminton partner training robot mechanism according to claim 1 and 2, it is characterized in that: also comprise rotation mechanism in vertical shaft, described rotation mechanism in vertical shaft comprises horizontal motor bearing seat, horizontal drive motor, small drive gear, horizontal bearing assembly, internal gear, wherein horizontal motor bearing seat is fixed on support section, described horizontal drive motor is fixed in the circumferential apertures of described horizontal motor bearing seat, and the outer ring of described horizontal bearing assembly is positioned in the centre bore of described horizontal motor bearing seat; Described internal gear is fixed in the inner ring of described horizontal bearing assembly and meshes with described small drive gear, and described small drive gear is fixed on the output shaft of described horizontal drive motor, and meshes and drive described internal gear to horizontally rotate with described internal gear; The horizontal supporting seat system of wherein said vertical rotation mechanism is arranged on the upper surface outer ledge of described internal gear.
4. badminton partner training robot mechanism according to claim 1, it is characterized in that: described hit agency comprises: slide block assembly, described slide block assembly is connected with described guide and is movable in set scope with respect to described guide; The racket holder is be connected with slide block assembly and can move with described slide block assembly is movable; And driving mechanism, be to drive described slide block assembly to move with respect to described guide.
5. badminton partner training robot mechanism according to claim 4, it is characterized in that: described driving mechanism specifically comprises: undersetting, shaft coupling, drive motors, screw-drive mechanism; Described screw-drive mechanism comprises screw rod and nut, and wherein said nut is fixedly connected with described slide block assembly; Described drive motors is fixed on undersetting; Described shaft coupling one end is connected in the output shaft of described drive motors, and the other end is connected in the screw rod of described screw-drive mechanism.
6. badminton partner training robot mechanism according to claim 5, it is characterized in that: described hit agency also comprises guide rod, and an end of described guide rod is arranged on described undersetting, and described slide block assembly is arranged on described guide rod, and described guide is provided with axis hole; Described hit agency also comprises connecting rod, is arranged on the upper bracket of the other end of described guide rod, and described upper bracket is provided with the rotating shaft with the axis hole pivot joint of guide; Described connecting rod one end and racket holder are rotationally connected, and the other end of described connecting rod and described slide block assembly are rotationally connected; Described racket holder is rotationally connected with described upper bracket simultaneously.
7. badminton partner training robot mechanism according to claim 6, it is characterized in that: described racket holder is provided with two bearing pins close to each other, and described upper bracket is provided with the support arm with dead eye; Described connecting rod be provided with described racket holder on the dead eye that is rotationally connected of one of them bearing pin, the support arm of described upper bracket is rotationally connected by another bearing pin on described dead eye and described racket holder.
8. badminton partner training robot mechanism according to claim 4, it is characterized in that: described guide is provided with for the movable cam path of installing of described slide block assembly, and described cam path forms or only consists of the tilting section horizontal by acute angle by the vertical section perpendicular to horizontal plane with horizontal by the tilting section of acute angle; Described slide block assembly is provided with described cam path and realizes the roller that cam is connected.
9. badminton partner training robot mechanism according to claim 1, it is characterized in that: described support section comprises that described elevating mechanism is in order to drive described vertical rotation mechanism and described hit agency lifting for the elevating mechanism of described vertical rotation mechanism and the installation of described hit agency; And/or omnidirectional's four-wheel drive mobile platform, in order to drive described badminton partner training robot mechanism, between diverse location, move.
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| CN201110366272.XA CN102363073B (en) | 2011-11-17 | 2011-11-17 | Badminton partner training robot mechanism |
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| CN201110366272.XA CN102363073B (en) | 2011-11-17 | 2011-11-17 | Badminton partner training robot mechanism |
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| CN102363073B true CN102363073B (en) | 2014-01-08 |
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| CN103272376B (en) * | 2013-06-18 | 2015-01-21 | 哈尔滨工业大学 | Robot capable of playing table tennis with human |
| CN104908044A (en) * | 2014-06-06 | 2015-09-16 | 苏州晓炎自动化设备有限公司 | Ball playing robot |
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| CN105561563B (en) * | 2016-02-16 | 2018-08-03 | 绍兴凯健科技有限公司 | It is a kind of without clap shuttlecock partner training device |
| CN105561564B (en) * | 2016-02-17 | 2017-12-12 | 绍兴凯健科技有限公司 | One kind is without bat tennis partner training device |
| CN106730714A (en) * | 2016-12-19 | 2017-05-31 | 绍兴凯健科技有限公司 | A kind of table tennis training mate robot |
| CN108398952A (en) * | 2018-03-22 | 2018-08-14 | 上海荷福人工智能科技（集团）有限公司 | Robot localization method and robot |
| CN108854005A (en) * | 2018-07-05 | 2018-11-23 | 麻春景 | A kind of all-around mobile shuttlecock robot |
| CN109589578B (en) * | 2019-01-28 | 2023-12-26 | 南京林业大学 | A swing and clap exercise apparatus for badminton training |
| CN110466635B (en) * | 2019-09-12 | 2020-08-07 | 浙江万里学院 | Electromagnetic release bouncing robot, badminton robot and electromagnetic release bouncing mechanism |
| CN112121381A (en) * | 2020-09-23 | 2020-12-25 | 田质全 | Movable badminton vertical net device |
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| CN102363073A (en) | 2012-02-29 |
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