CN104492056B - Badminton training robot - Google Patents
Badminton training robot Download PDFInfo
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- CN104492056B CN104492056B CN201410774921.3A CN201410774921A CN104492056B CN 104492056 B CN104492056 B CN 104492056B CN 201410774921 A CN201410774921 A CN 201410774921A CN 104492056 B CN104492056 B CN 104492056B
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- service robot
- horn formula
- type element
- sandwich type
- snail
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Abstract
Badminton training robot, it is made up of motor, snail sandwich type element, ox horn formula funnel and support, and snail sandwich type element is connected through rivet with motor, ox horn formula funnel, and snail sandwich type element is connected through rotating shaft with support, and motor is connected through rivet with support.The simple and reasonable novelty of the present invention, it is easy to operate, shuttlecock training mate person's training mate can be substituted, training effect can be improved again, it is practical.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of badminton training robot.
Background technology
Current badminton service robot, training effect is poor in actual applications, can't really simulate training mate person's action, service
Firmly the highly difficult training such as regulation and mobile service still leans on training mate person to realize, such training mate person's working strength is big, efficiency
Low and training mate person does not possess ability for a long time for ball, directly affects the lifting of trainer's technical ability.
The content of the invention
The purpose of the present invention is：A kind of badminton training robot is provided, its simple and reasonable novelty, manipulation is easy,
Low cost, can overcome the defect in background technology and have its advantage concurrently, training effect is good, practical.
Realizing the technical solution used in the present invention is：The equipment is by motor, snail sandwich type element, ox horn formula funnel and support
Composition, snail sandwich type element is connected through rivet with motor, ox horn formula funnel, and snail sandwich type element is connected through rotating shaft with support, motor warp
Rivet is connected with support.
In order to give the different actions of service to provide power, the sizes of regulation service power, simulation training mate person walks about delivery of service, is somebody's turn to do
Motor has three, and First is that adjustable frequency motor is connected through rivet with snail sandwich type element, and its axle is inserted perpendicularly into snail sandwich type element
Interior, shaft end service robot through bolt connection；Second be stepper motor through rivet interlacement on the upside of snail sandwich type element, on its axle
There are sector gear and firing device；3rd is that adjustable frequency motor is connected to pedestal lower end through rivet, bearing.
In order to simulate training mate person's interruption delivery of service, the one side of snail sandwich type element ball mouth is provided with small axle, ball mouth
Left surface has a small sircle hole, right flank to have a big hole, upper side to have a rectangular opening and a supporting leg with holes, downside to have one
Individual rotating shaft, small sircle hole, big hole and the ox horn formula funnel Xia Kou centers of circle are relative, ox horn formula funnel suitable for reading is fan-shaped mouth, the leakage of ox horn formula
Board plug type controller, supporting leg and block are set on bucket, and board plug type controller is by two blocks of parallel plates, a seesaw and one
Extension spring is constituted, and seesaw two ends have slot, centre to have a circular hole, and a plate has Minisize axial to be inserted in lift up in upside, one end
The slot of plate one end is interior, the other end of plate is inserted in ox horn formula funnel through the horizontal joint on ox horn formula hopper walls, another
Individual plate has ratch, the other end to be inserted through the horizontal joint on ox horn formula hopper walls in ox horn formula funnel in downside, plate one end, tooth
Also have near plate in the slot of a Minisize axial insertion seesaw other end on bar, the circular hole warp in the middle of seesaw
Drift bolt is movably connected on the supporting leg of ox horn formula funnel outer wall, and supporting leg is Nian Jie with ox horn formula hopper walls, and one end of extension spring, which is hung over, lifts up
In the hole on seesaw top, the extension spring other end hung on ox horn formula hopper walls.
Walked about delivery of service to simulate training mate person, in pedestal lower end there is provided three sheaves connect through bearing and support
Connect, first sheave is coaxial with the 3rd frequency conversion motors and is rolled with second sheave on one article of track, the 3rd groove
Wheel is rolled on another track, and the adjusted bar of axle of the 3rd sheave is connected with the small axle of snail sandwich type element ball mouth one side,
There is adjustment hole on adjusting rod.
In order to which shuttlecock strength is dealt into trainer place, the service robot of setting is reducing tubulose, and service robot bigger diameter end is
Segment shape, the two segment opening centers of circle are relative, and service robot miner diameter end has controlling switch, and the switch has three pieces of rotatable pieces of arc, circles
Arc drive link, supporting leg with holes and sliding bar composition, three pieces of rotatable pieces of arc are set through Minisize axial along service robot outer wall is equidistant
Put, the rotatable piece one end of three pieces of arcs is inserted in service wall, the other end is flexibly connected outside wall through circular arc drive link, circle
Arc drive link two ends are connected on service robot through supporting leg with holes, and wherein one end covers spring, the other end and drawstring one end and connected, and are drawn
The other end of rope is connected through directive wheel with a sliding bar with spring.
The positive effect of the present invention is：Simple and reasonable novelty, can simulate training mate person and walk about delivery of service, and service is exerted oneself
It is adjustable, long service and can send out near ball, service can be pinpointed and energy is multi-direction serves a ball, can cover the whole instruction of trainer
Practice place and continuously adjustable service direction, can realize the control to course of action and falling sphere point, it is precisely strong to send ball, kill
Power is strong, and training difficulty is high but can reduce training difficulty, service automation journey more motor-driven, flexible, quick than the service of similar equipment
Degree is high, each to trainer can act and be trained, the reaction speed received that can improve trainer and the adaptability to changes received,
The need for trainer's physical efficiency and combat training can be met, exercise skill lifting is fast, also is available for teaching and uses and personal entertainment, practicality
Property is strong.There is no any influence to surrounding environment and resident living when using, be not only applicable public area, greenery patches, be also suitable
In residential area activity take exercise, it is applied widely, be to China's shuttlecock traditional culture one creatively inherit and develop,
Easily made compared with similar equipment and critical piece in terms of making, making recruitment is few, energy consumption is low, material source is wide, price is low,
Easily popularize.
Brief description of the drawings
Accompanying drawing 1 is external structure schematic diagram of the present invention；
Accompanying drawing 2 is the side view of accompanying drawing 1；
Accompanying drawing 3 is the top view of accompanying drawing 2；
Accompanying drawing 4 for accompanying drawing 1 A-A to snail sandwich type element sectional view；
Accompanying drawing 5 is the service robot external structure schematic diagram on accompanying drawing 4；
Accompanying drawing 6 is the top view of accompanying drawing 5；
Accompanying drawing 7 be on accompanying drawing 6 C-C to service robot miner diameter end sectional drawing；
Accompanying drawing 8 is the B-B direction ox horn formula funnel sectional view on accompanying drawing 2；
Accompanying drawing 9 is board plug type controlling switch external structure schematic diagram on accompanying drawing 8；
Accompanying drawing 10 is the top view of accompanying drawing 9；
Accompanying drawing 11 is the side view of accompanying drawing 9；
Accompanying drawing 12 is the system schematic of module controlled motor；
Accompanying drawing 13 is the firing device drawing on second step motor shaft；
Accompanying drawing 14 is the side view of accompanying drawing 13.
Embodiment
The present invention is as shown in accompanying drawing 1,2,3, and the equipment is by 4 groups of motor 1, snail sandwich type element 2, ox horn formula funnel 3 and support
Into snail sandwich type element 2 is connected through rivet with motor 1, ox horn formula funnel 3, and snail sandwich type element 2 is connected through rotating shaft 21 with support 4, electricity
Machine 1 is connected through rivet with support 4.In order to provide power, the size of regulation service firmly to different actions of serving a ball, training mate person is simulated
Walk about delivery of service, the motor 1 has three, First be adjustable frequency motor 11 through rivet interlacement on snail sandwich type element 2, it
Axle is inserted perpendicularly into snail sandwich type element 2, and its end of axle 1100 service robot 111 through bolt connection, and service robot 111 is reduced pipe
Shape, bigger diameter end is segment shape, and the two segment opening centers of circle are relative, small scarce circle opening 1111 with the shaft end of the first frequency conversion motors 11
It is fixedly connected, the big circle opening 1112 that lacks is used for being put into shuttlecock, and the miner diameter end of service robot 111 has controlling switch 1113, and the switch has
The rotatable piece 11131 of three pieces of arcs, circular arc drive link 11132, supporting leg with holes 11133 and sliding bar 11137 are constituted, three pieces of arcs
The rotatable piece of shape is equidistantly positioned through Minisize axial along service robot outer wall, the rotatable one end of the piece 11131 insertion service robot of three pieces of arcs
111 walls are interior, the other end is flexibly connected outside wall through circular arc drive link 11132, and circular arc drive link two ends are through supporting leg with holes
11133 are connected on service robot, wherein one end covers spring 11134, and the other end is connected with the one end of drawstring 11135, and drawstring is another
End is connected through directive wheel 11136 with a sliding bar 11137 with spring 111371, and sliding bar has two supporting legs 11133 with holes
Support, sliding bar two ends have semicircle cap 111372, two semicircle caps small one and large one；Second be stepper motor 12 through rivet
Being connected on the upside of snail sandwich type element 2, the axle of stepper motor 12 has sector gear 121 and firing device 122；3rd is variable-frequency electric
Motivation 13 is connected to the lower end of support 4 through rivet, bearing, and this three motors 1 are controlled by a control module 5（As Fig. 1,2,3,4,
5th, shown in 6,7,12,13,14）.In order to simulate training mate person's interruption delivery of service, set in the one side of the ball mouth 22 of snail sandwich type element 2
Small axle 23 is equipped with to be used for adjusting axle, right side that ball launch angle, left surface have small sircle hole to be used for inserting the first frequency conversion motors 11
There is big hole in face has a rectangular opening 24 and a supporting leg 25 with holes to be respectively intended to by firing device for putting ball, upper side
122 have a rotating shaft 21 to be used for being connected on support 4 and adjusting ball launch angle with support ratch, downside；Under ox horn formula funnel 3
Small sircle hole, the big hole of right flank and the segment opening center of circle phase of 111 bigger diameter end of service robot two of mouth and the left surface of snail sandwich type element 2
Suitable for reading to, ox horn formula funnel is to set board plug type controller 31, supporting leg 32 and block 33 on fan-shaped mouth, ox horn formula funnel 3, is inserted
Board-like controller is made up of two blocks of parallel plates 311, a seesaw 312 and an extension spring 313, and there is length at the two ends of seesaw 312
Square opening, centre have a circular hole, and a plate 311 has Minisize axial 314 to be inserted in the rectangle of the one end of seesaw 312 in upside, one end
In hole 3120, the other end of plate is inserted in ox horn formula funnel 3 through the horizontal joint on the wall of ox horn formula funnel 3, another plate 311
There are ratch 3111, the other end to be inserted through the horizontal joint on the wall of ox horn formula funnel 3 in ox horn formula funnel 3 in downside, plate one end, tooth
Also have near plate in the slot 3120 of the insertion other end of seesaw 312 of Minisize axial 314 on bar 3111, lift up
Circular hole in the middle of plate 312 is movably connected on ox horn formula funnel outer wall supporting leg 32 through drift bolt, and supporting leg is bonded in ox horn formula hopper walls
On, the one end of extension spring 313 is hung in the top hanging hole of seesaw 312, the other end of extension spring 313 is hung on the hanging hook of ox horn formula funnel 3, under
Sector gear 121 on the ratch 3111 of the one end of side plate 311 and second axle of stepper motor 12 is engaged（As Fig. 1,2,3,4,5,
8th, shown in 9,10,11）.Walked about delivery of service to simulate training mate person, three sheaves 41, three grooves are provided with the lower end of support 4
Wheel 41 is connected to the lower end of support 4 through bearing and axle, and the frequency conversion motors 13 of first sheave 411 and the 3rd are coaxial and with second
Individual sheave 412 is rolled on a semicircular arc track 4120, and the 3rd sheave 413 is on another article of semicircular arc track 4130
Roll, the center of circle of two halves circular arc track 4120,4130 is concentric, the adjusted bar 42 of axle and snail type of the 3rd sheave 413
The small axle 23 of the one side of 2 ball mouth of housing 22 is flexibly connected, and has adjustment hole 421 on adjusting rod 42, for adjusting ball launch angle（As schemed
1st, shown in 2,3）.
Operation principle and using method of the present invention：Set in shuttlecock place twice concentric semicircles arc track 4120,
4130, semicircular arc track 4120,4130 is open towards net, and the equipment is placed on track, the first sheave 411, second
Sheave 412 is placed on large radius semicircular arc track 4120, and the 3rd sheave 413 is placed on minor radius semicircular arc track 4130
On, ball launch angle is adjusted with adjusting rod 42, then starts the equipment, the programme-control that three motors 1 are set in control module 5
Under, the driving sheave 411 of the 3rd frequency conversion motors 13 is reciprocated on semicircular arc track 4120,4130；Second stepping
Motor 12 engages the driving downside insertion ox horn formula of plate 311 through sector gear 121, with the ratch 3111 on board plug type controller 31
In funnel, the shuttlecock that upside plate 311 is extracted out in ox horn formula funnel 3, ox horn formula funnel 3 is fallen between two plates 311, works as fan
Shape gear 121 is turned over after fan-shaped arc length, no longer engaged with ratch 3111, and downside plate 311 is made in seesaw 312 and extension spring 313
With lower extraction ox horn formula funnel 3, shuttlecock end is stopped by block 33, ball end is fallen before, Action of Gravity Field, feather ball warp in addition
Mouth is fallen into the service robot 111 in snail sandwich type element 2 under ox horn formula funnel, and service robot 111 is in the first frequency conversion motors 11
The miner diameter end that the centrifugal force produced under driving effect makes shuttlecock be moved to service robot 111 from the bigger diameter end of service robot 111 is controlled
Switch 1113 is controlled, when the miner diameter end of service robot 111 turns to the rectangular opening 24 of the upside of 2 ball mouth of snail sandwich type element 22, by the
Firing device 122 on two axles of stepper motor 12 touches the semicircle cap of one end of sliding bar 11137 in controlling switch 1113
111372, sliding bar 11137 slides and pulls drawstring 11135 to drive circular arc drive link 11132 to rotate also to drive three pieces
The rotatable rotating opening controlling switch 1113 of piece 11131 of arc, shuttlecock departs from service robot 111 through the ball mouth of snail sandwich type element 2
22 fly to trainer place, and controlling switch 1113 is in one end spring 11134 of circular arc drive link 11132 and sliding bar 11,137 1
End spring 111371 sets back under acting on, and controls next shuttlecock.
Claims (2)
1. badminton training robot, it is characterised in that：It is made up of motor, snail sandwich type element, ox horn formula funnel and support, institute
The motor stated has three, First be adjustable frequency motor through rivet interlacement on snail sandwich type element, the axle of the adjustable frequency motor hangs down
Straight cutting enters in snail sandwich type element, shaft end service robot through bolt connection；Second for stepper motor through rivet interlacement in snail type
On the upside of housing, there are sector gear and firing device on the axle of the stepper motor；3rd is that adjustable frequency motor is connected through rivet, bearing
In pedestal lower end；Snail sandwich type element is connected through rivet with ox horn formula funnel；Snail sandwich type element is connected through rotating shaft with support；Described
Pedestal lower end has three sheaves connected through bearing, first sheave and the 3rd frequency conversion motors it is coaxial and with second groove
Wheel is rolled on a track, and the 3rd sheave roll on another article of track, the adjusted bar of axle of the 3rd sheave and snail
There is adjustment hole on the small axle connection of sandwich type element ball mouth one side, adjusting rod；Described service robot is reducing tubulose, the big footpath of service robot
Hold as segment shape, the two segment opening centers of circle are relative, and service robot miner diameter end has controlling switch, and the controlling switch there are three pieces of arcs to turn
Moving plate, circular arc drive link, supporting leg with holes and sliding bar composition, three pieces of rotatable pieces of arc are through Minisize axial along service robot outer wall etc.
Distance is set, and the rotatable piece one end of three pieces of arcs is inserted in service wall, and the other end is outside wall through the activity of circular arc drive link
Connection, circular arc drive link two ends are connected on service robot through supporting leg with holes, and wherein one end covers spring, the other end and drawstring one end
Connection, the other end of drawstring is connected through directive wheel with a sliding bar with spring；During service under feather ball warp ox horn formula funnel
Mouth is fallen into service robot, and service robot makes shuttlecock be moved from service robot bigger diameter end under the driving effect of the first frequency conversion motors
The miner diameter end of service robot is moved, is now controlled by controlling switch, when the miner diameter end of service robot turns to snail sandwich type element ball mouth
During the rectangular opening of upside, the semicircle cap of sliding bar one end in controlling switch is touched by firing device, and sliding bar starts to slide simultaneously
Drawstring is pulled, so as to drive circular arc drive rod rotation, circular arc drive link drives the rotatable piece of three pieces of arcs to rotate, this time control
Switch processed is opened, and shuttlecock just departs from service robot and flies to trainer place through snail sandwich type element ball mouth.
2. badminton training robot according to claim 1, it is characterised in that：Set on described ox horn formula funnel
Board plug type controller, supporting leg and block, board plug type controller are made up of two blocks of parallel plates, a seesaw and an extension spring,
Seesaw two ends have slot, centre to have circular hole, and a plate has Minisize axial to be inserted in seesaw in upside, one end of the plate
In the slot of one end, the other end of plate is inserted in ox horn formula funnel through the horizontal joint on ox horn formula hopper walls, another
Plate has ratch in downside, one end of the plate, and the other end is inserted in ox horn formula funnel through the horizontal joint on ox horn formula hopper walls,
Also have near plate in the slot of a Minisize axial insertion seesaw other end on ratch, the circular hole in the middle of seesaw
It is movably connected in through drift bolt on ox horn formula funnel outer wall supporting leg, one end of extension spring is connected to seesaw top, and the extension spring other end is hung
On ox horn formula hopper walls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410774921.3A CN104492056B (en) | 2014-12-16 | 2014-12-16 | Badminton training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410774921.3A CN104492056B (en) | 2014-12-16 | 2014-12-16 | Badminton training robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104492056A CN104492056A (en) | 2015-04-08 |
| CN104492056B true CN104492056B (en) | 2017-09-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410774921.3A Expired - Fee Related CN104492056B (en) | 2014-12-16 | 2014-12-16 | Badminton training robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104492056B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690409B (en) * | 2016-05-02 | 2017-06-30 | 吉首大学 | A kind of badminton training robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2068849U (en) * | 1990-05-08 | 1991-01-09 | 山西师范大学 | Training machine for basketball shooting |
| RU2008960C1 (en) * | 1992-01-09 | 1994-03-15 | Родштейн Людвиг Соломонович | Device for throwing balls out |
| US5813391A (en) * | 1995-02-17 | 1998-09-29 | Johnson; Albert | Method and apparatus for pitching and lobbing balls |
| CN2734278Y (en) * | 2004-10-21 | 2005-10-19 | 林清云 | Table tennis service machine |
| CN100394998C (en) * | 2006-06-10 | 2008-06-18 | 合肥工业大学 | Equipment for volleyballer training use |
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2014
- 2014-12-16 CN CN201410774921.3A patent/CN104492056B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN104492056A (en) | 2015-04-08 |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Tang Ming Inventor after: Cao Guiwen Inventor after: Chen Yuxia Inventor after: Yang Xia Inventor after: Cao Yusheng Inventor after: He Zhonghua Inventor after: Jiao Hebin Inventor after: Wan Lei Inventor after: Zhang Haiwei Inventor after: Wang Ying Inventor after: Yang Aihua Inventor after: Zhang Ying Inventor after: Li Hui Inventor before: Han Haifeng Inventor before: Hou Fulu Inventor before: Pan Wandong Inventor before: Niu Yonggang Inventor before: Qin Haisheng Inventor before: Han Zhiyong Inventor before: Li Yousheng Inventor before: Cao Yubing Inventor before: Sun Liwei Inventor before: Jin Chunxia |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170808 Address after: 450044 Henan city of Zhengzhou province Huiji District Yingcai Street No. 2 Applicant after: Tang Ming Applicant after: He Zhonghua Applicant after: Henan Vocational College of Industry and Information Technology Applicant after: Wan Lei Applicant after: Zhang Haiwei Applicant after: Shangqiu Vocational and Technical College Address before: 476000, No. 1, unit 1, Hutong Yiyang, Shangqiu beam garden area, Henan, 4 Applicant before: Sun Zhengyang |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170901 Termination date: 20181216 |