CN208975124U - Tennis training robot - Google Patents

Abstract

Tennis training robot provided by the utility model, belongs to tennis training equipment technical field, mainly solves the problems, such as that the quality of the artificial training mate of the prior art influences practitioner's enthusiasm.Including machine tool and handset, its main feature is that: the machine tool includes elevating mechanism, screw air compressor, steering wheel, cam enter ball device, inverted triangle chassis, emitter, screw rod supplying device of ball, double-screw lifting device；The screw air compressor is mounted on the lower section of steering wheel on inverted triangle chassis.The handset includes hydraulic push rod, ball frame, handset chassis, ball frame door, running gear, dribble system, dials ball system；Tennis is launched from transmitting pipeline using compressed air.Handset supplements the tennis in ball frame at any time, greatly improves the enthusiasm of practitioner's training.True man's service is simulated by elevating mechanism, steering wheel and rotation direction adjuster.Ball is quickly received by handset, improves training effectiveness.

Description

Tennis training robot

Technical field

The utility model belongs to tennis training equipment technical field, and in particular to tennis training robot.

Background technique

Currently, this sports of tennis are larger by peer influence, double training is needed, exercise intensity is big, so to accompanying White silk person is more demanding, them has not only been needed to have certain tennis technology, but also them is needed to have good physical efficiency, so as to continue Ball is fed, these costs for tempering tennis improve, it can be seen that the technology status of ladder player, the superiority and inferiority of release quality, The factors such as complexity all restrict the practice of tennis, especially influence the enthusiasm of practitioner, thus tennis serve machine With and give birth to, assist practitioner batting, reach training requirement.

In addition, for common tennis trainer, it is impossible to there is caddie to be responsible for it and pick up ball.Especially beginner, just Just contact tennis often makes tennis become to pick up ball movement because shot not enough standardizes；To the instruction in order to improve playing skill White silk person, multi-ball practice are necessary, and are frequently picked up ball and are also increased the inconvenience of practice.Therefore, to improve the level of training, increase tennis The enjoyment of movement, ball picker of tennis device people come into being.

For practitioner, to rapidly improve ball game skills, advanced tennis training equipment be it is essential, still Domestic relevant tennis training equipment is still defective, the tennis serve machine especially for service, since price is higher, rapid wear It is bad, the use of people is affected to a certain extent.For this purpose, developing, one kind is high in technological content, price is lower, attractive and durable, simultaneous It is meaningful thing that tool, which picks up ball and the tennis training robot of service function,.

Summary of the invention

The purpose of the utility model is to provide the tennis training robots for having both automatic service and the big function of automatically picking up balls two.

The utility model adopts the technical scheme that solve above-mentioned technical problem:

Tennis training robot, including machine tool and handset, its main feature is that:

The machine tool includes elevating mechanism, screw air compressor, steering wheel, cam enter ball device, inverted triangle chassis, transmitting dress It sets, screw rod supplying device of ball, double-screw lifting device；The screw air compressor is mounted on inverted triangle chassis under steering wheel Side；

The elevating mechanism includes pinion gear, gear wheel, inside shell, driving gearshaft, outside shell, guide rail, sector Wheel, bearing, motion bracket, elevating mechanism motor rack, elevating mechanism motor；The pinion gear is connect with the elevating mechanism motor, and with Gear wheel engagement, gear wheel and the transmission gear axis connection, the lower part of driving gearshaft be located at the inside shell with In the space that outside shell is surrounded；The inside shell and outside shell can slide on the guide rail, the transmission gear Axis is engaged with sector gear, which is connect by bearing with motion bracket；

The motion bracket of the elevating mechanism and the third section transmitting pipeline of emitter are hinged, the end of the sector gear It is contacted with the first segment transmitting pipeline of emitter；

The steering wheel includes lower turning handle, steering wheel shell, sector gear guide rail, upper turning handle, shaft coupling, direction electromechanics Machine, steering wheel motor rack；

The steering wheel motor is fixed on the steering wheel motor rack, the output shaft of steering wheel motor by shaft coupling with Transmission device connection, upper turning handle one end is hinged with swing rod, and the gear being fixed on swing rod is engaged with sector gear guide rail；Under described Turning handle one end is connect with transmission device, and the other end is hinged with swing rod；The sector gear guide rail and inverted triangle chassis are affixed；

The cam enter ball device include for bulb pipeline joint, connecting rod, turning handle, end cap, connecting rod rack, goal pinion gear, Goal motor, goal gear wheel, goal piston；

The goal motor and goal pinion gear are affixed, and goal pinion gear is engaged with goal gear wheel, the goal canine tooth Wheel is connected by the transmission shaft on connecting rod rack with jointed gear unit, and the jointed gear unit includes turning handle, connecting rod and company Bar bracket is provided with end cap in the transmission shaft end；Described connecting rod one end and goal piston hinge, the other end are hinged with turning handle；

The inverted triangle chassis includes rear guard, planetary reduction gear, machine tool driving motor, machine tool front hub connection dress It sets, front wheel carrier constraint, front wheel carrier, front-wheel, direction machine support, bottom plate, chassis fixed frame, chain gearing, machine tool rear-wheel Frame, machine tool rear-wheel, transfer；The bottom plate is fixed on the fixed frame of chassis；

The machine tool driving motor is fixed on bottom plate, and is transmitted power on planetary reduction gear by belt, planet The output shaft of retarder passes through chain gearing for power transmission to machine tool rear-wheel；The chain gearing includes chainlet Wheel, transmission chain tensioning wheel carrier, chain tension gear, transmission big sprocket wheel and chain；

The transfer includes the first steering link, turns to hinge, the second steering link, third steering link, the 4th Steering link, steering engine driver plate, transfer are located at below bottom plate；First steering link machine tool front hub with both sides respectively Attachment device connection；Second steering link both ends and first steering link are hinged, and one end of the second steering link is same When it is hinged with third steering link, described 4th steering link one end is connect with steering engine driver plate, the other end and third steering link Hingedly；

The emitter includes first segment transmitting pipeline, the second section transmitting pipeline, third section transmitting pipeline, third section hair Penetrate pipeline front rotary flange connector, Section of four transmitting pipeline, rotation direction adjuster, Section of five transmitting pipeline, gas-guide tube, constant pressure type Supply high pressure gas storehouse, for bulb rotary flange connector, for bulb road, Section of four transmitting pipeline rear portion rotary flange connector；

The first segment transmitting pipeline, the second section transmitting pipeline, third section transmitting pipeline, the common flange of transmitting pipeline connect Head, Section of four transmitting pipeline, Section of five transmitting pipeline are sequentially connected, and are provided with rotation direction adjuster on Section of four transmitting pipeline, The rotation direction adjuster includes adjustment gear, outer gear ring, adjusts motor, friction plate, Section of four transmitting pipeline front end rotary flange Connector and Section of four transmitting pipeline rear end rotary flange connector；Outer gear ring, the adjusting are provided on Section of four transmitting pipeline The outer gear ring being arranged on gear and Section of four transmitting pipeline engages；Under the action of adjusting motor, Section of four transmitting pipeline can revolve Turn；Section of four transmitting pipeline is provided with rotation direction adjuster, the rotation direction adjuster by that can be such that friction plate pushes manually Or rise, when passing through tennis, tennis rotation direction is changed by friction, emits the ball of different rotation directions；

The screw rod supplying device of ball includes spiral release bar, release bar shaft coupling, pass pipeline, ball-storing box, for ball motor Frame, for ball motor；The pass pipeline is located at the lower section of ball-storing box, and the ball-storing box is connected to the pass pipeline, the spiral shell Rotation release bar is located in the pass pipeline, and one end is connect with release bar shaft coupling, the release bar shaft coupling and for ball motor One end of connection, the pass pipeline is connected with described for bulb pipeline joint；

The handset includes hydraulic push rod, ball frame, handset chassis, ball frame door, running gear, dribble system, dials ball system；

The hydraulic push rod is arranged between ball frame and ball frame door, is used to open ball frame door；

The running gear includes handset rear-wheel, omnidirectional's wheel carrier, omni-directional wheel, handset rear wheel frame, handset rear wheel drive motor； The handset rear wheel drive motor is fixed on handset rear wheel frame, and the handset rear wheel frame is fixed on handset chassis, described complete It is mounted on omnidirectional's wheel carrier to wheel, omnidirectional's wheel carrier is fixed on handset chassis；

The dribble system includes push the ball belt, transmission small pulley, driving belt, transmission big belt wheel, drive roll, tensioning Roller, driven roller, handset dribble motor, slideway；The handset dribble motor and the transmission small pulley, the transmission small band Wheel is connect by driving belt with transmission big belt wheel；The transmission big belt wheel is connect with the drive roll, the drive roll Belt of pushing the ball is installed between the driven roller, the belt tensioning drum is belt of pushing the ball with slideway spacing for adjusting；

Described group of ball system includes dialling ball disk, handset group ball coil motor, dialling ball retarder, slideway；The handset dials ball disk Motor is connected with described group of ball retarder, and described group of ball retarder is connect with ball disk is dialled, if described group of ball disk is by dry plate elastic dialing Piece is constituted.

The utility model compared with prior art, has the advantages that

The utility model is launched tennis using compressed air using air pressure service principle from transmitting pipeline.It is logical Cross elevating mechanism, steering wheel and the simulation true man's service of rotation direction adjuster.Compared to two-wheel to forwarding ball machine, air pressing type service robot is more Cheaply, preferably universal in China's large area, be conducive to the vast tennis enthusiast practice in China.Also, it calms the anger for traditional The disadvantage that formula service robot noise is big, service is unstable gives improvement, keeps air pressing type service robot performance more superior.It is collection fixed point Service and the primary-secondary type tennis training robot for quickly receiving the big function of ball two.

Detailed description of the invention

FIG. 1 is a schematic structural view of the utility model；

Fig. 2 is the overall appearance structural upright schematic diagram of the utility model；

Fig. 3 is the emitter structural schematic diagram of the utility model；

Fig. 4 is the top view of Fig. 3 structure；

Fig. 5 is the main view of Fig. 3 structure；

Fig. 6 is the steering wheel structural schematic diagram of the emitter of the utility model；

Fig. 7 is the rear perspective view of structure shown in Fig. 6；

Fig. 8 is the right parallax stereogram of structure shown in Fig. 6；

Fig. 9 is the elevating mechanism structural schematic diagram of the emitter of the utility model；

Figure 10 is the face upwarding stereogram of structure shown in Fig. 9；

Figure 11 is the horizontal ball feeding device partial sectional view of the utility model；

Figure 12 is the top perspective view of structure shown in Figure 11；

Figure 13 is the perspective bottom view of structure shown in Figure 12；

Figure 14 is the cam enter ball device structural upright schematic diagram of the utility model；

Figure 15 Figure 14 face and partial sectional view；

Figure 16 is the sub- bassinet structure stereoscopic schematic diagram of the utility model；

Figure 17 is the rearview of structure shown in Figure 16；

Figure 18 is the face upwarding stereogram of structure shown in Figure 17；

Figure 19 is the inverted triangle chassis structure stereoscopic schematic diagram of the utility model；

Figure 20 is the bottom view of structure shown in Figure 19.

In figure: in figure: 1-machine tool；

1-1-elevating mechanism；

1-1a-pinion gear；1-1b-gear wheel；1-1c-inside shell；1-1d-driving gearshaft；1-1e-outside Shell；1-1f-guide rail；1-1g-sector gear；1-1h-bearing；1-1i-motion bracket；1-1j-elevating mechanism motor rack； 1-1k-elevating mechanism motor；

1-2-screw air compressor；

1-3-steering wheel；

The lower turning handle of 1-3a-；1-3b-steering wheel shell；1-3c-sector guide rail；1-3d-goes up turning handle；1-3e-connection Axis device；1-3f-steering wheel motor；1-3g-steering wheel motor rack；1-3h-gear shaft；1-3i-worm screw；

1-4-cam enter ball device；

1-4a-is for bulb pipeline joint；1-4b-connecting rod；1-4c-turning handle；1-4d-end cap；1-4e-connecting rod rack；1- 4f-goal pinion gear；1-4g-goal motor；1-4h-goal gear wheel；1-4l-goal piston；

1-5-inverted triangle chassis；

1-5a-rear guard；1-5b-planetary reduction gear；1-5c-machine tool driving motor；1-5d-machine tool front hub Attachment device；1-5e-front wheel carrier constraint；1-5f-front wheel carrier；1-5g-front-wheel；1-5h-direction machine support；1-5i-bottom Plate；1-5j-chassis fixed frame；1-5k-minor sprocket；1-5l-transmission chain tensioning wheel carrier；1-5m-chain tension gear；1- 5n-machine tool rear wheel frame；1-5o-transmission big sprocket wheel；1-5p-machine tool rear-wheel；1-5q-chain；1-5r-first, which is turned to, to be connected Bar；1-5s-steering hinge；The second steering link of 1-5t-；1-5u-third steering link；The 4th steering link of 1-5v-；1- 5w-steering engine driver plate；

1-6-emitter；

1-6a-first segment transmitting pipeline；1-6b-the second section transmitting pipeline；1-6c-third section transmitting pipeline； 1- Section of four transmitting pipeline front end rotary flange connector of 6d-；Section of four transmitting pipeline of 1-6e-；1-6f-adjustment gear；1-6g— Adjust motor；Section of five transmitting pipeline of 1-6h-；1-6i-gas-guide tube；1-6j-constant pressure type supplies high pressure gas storehouse；1-6k-confession Bulb bump joint；1-6l-is for bulb road；Section of four transmitting pipeline rear end rotary flange connector of 1-6m-；1-6n-friction tune Save mechanism rack；1-6o-rectangle friction plate regulating mechanism；1-6p-outer gear ring；1-6r-friction plate；

1-7-screw rod supplying device of ball；

1-7a-spiral release bar；1-7b-release bar shaft coupling；1-7c-pass pipeline；1-7d-ball-storing box；1- 7e-is for ball motor frame；1-7f-is for ball motor；

1-8-double-screw lifting device；

2-handsets；

2-1-hydraulic push rod；2-2-handset rear-wheel；2-3-omnidirectional's wheel carrier；2-4-omni-directional wheel；2-5-slideway；2-6— Dial ball disk；2-7-pushes the ball belt；2-8-transmission small pulley；2-9-driving belt；2-10-transmission big belt wheel；2-11-ball Frame；2-12-drive roll；2-13-belt tensioning drum；2-14-driven roller；2-15-handset dribble motor；2-16-handset Dial ball coil motor；2-17-dials ball retarder；2-18-handset chassis；2-19-handset rear wheel frame；2-20-handset rear-wheel drives Dynamic motor；2-21-ball frame door；

Specific embodiment

As shown in Fig. 2, tennis training robot, including machine tool 1 and handset 2, its main feature is that:

As shown in Figure 1, the machine tool 1 includes elevating mechanism 1-1, screw air compressor 1-2, steering wheel 1-3, cam goal dress Set 1-4, inverted triangle chassis 1-5, emitter 1-6, screw rod supplying device of ball 1-7, double-screw lifting device 1-8；The twin-screw Air compressor machine 1-2 is mounted on the lower section of steering wheel 1-3 on the 1-5 of inverted triangle chassis；

As shown in Figure 9, Figure 10, the elevating mechanism 1-1 includes pinion gear 1-1a, gear wheel 1-1b, inside shell 1-1c, passes Movable gear shaft 1-1d, outside shell 1-1e, guide rail 1-1f, sector gear 1-1g, bearing 1-1h, motion bracket 1-1i, elevating mechanism Motor rack 1-1j, elevating mechanism motor 1-1k；The pinion gear 1-1a is connect with the elevating mechanism motor 1-1k, and with it is described big Gear 1-1b engagement, gear wheel 1-1b are connect with the driving gearshaft 1-1d, and the lower part of driving gearshaft 1-1d is located at described In the space that inside shell 1-1c and outside shell 1-1e are surrounded；The inside shell 1-1c and outside shell 1-1e can be in institutes It states and is slided on guide rail 1-1f, the driving gearshaft 1-1d is engaged with sector gear 1-1g, and sector gear 1-1g passes through bearing 1-1h is connect with motion bracket 1-1i；

The third section transmitting pipeline 1-6c of the motion bracket 1-1i and emitter 1-6 of the elevating mechanism 1-1 are hinged, institute The end for stating sector gear 1-1g is contacted with the first segment transmitting pipeline 1-6a of emitter 1-6；

As shown in Fig. 6, Fig. 7, Fig. 8, the steering wheel 1-3 includes lower turning handle 1-3a, steering wheel shell 1-3b, sector Take turns guide rail 1-3c, upper turning handle 1-3d, shaft coupling 1-3e, steering wheel motor 1-3f, steering wheel motor rack 1-3g；

The steering wheel motor 1-3f is fixed on the steering wheel motor rack 1-3g, the output of steering wheel motor 1-3f Axis is connect by shaft coupling 1-3e with transmission device, and the one end upper turning handle 1-3d and swing rod 1-3h are hinged, are fixed on swing rod 1-3h Gear engaged with sector gear guide rail 1-3c；Described one end lower turning handle 1-3a is connect with transmission device, the other end and swing rod 1- 3h is hinged；The sector gear guide rail 1-3c and inverted triangle chassis 1-5 are affixed；

As shown in Figure 14 and Figure 15, the cam enter ball device 1-4 includes for bulb pipeline joint 1-4a, connecting rod 1-4b, turns Handle 1-4c, it end cap 1-4d, connecting rod rack 1-4e, goal pinion gear 1-4f, goal motor 1-4g, goal gear wheel 1-4h, scores Piston 1-4l；

The goal motor 1-4g and goal pinion gear 1-4f are affixed, and goal pinion gear 1-4f is nibbled with goal gear wheel 1-4h It closes, the goal gear wheel 1-4h is connected by the transmission shaft on connecting rod rack 1-4e with jointed gear unit, and the connecting rod passes Motivation structure includes turning handle 1-4c, connecting rod 1-4b and connecting rod rack 1-4e, and the transmission shaft end is provided with end cap 1-4d；The company The one end bar 1-4b and goal piston 1-4l are hinged, and the other end and turning handle 1-4c are hinged；

As illustrated in figures 19 and 20, the inverted triangle chassis 1-5 include rear guard 1-5a, planetary reduction gear 1-5b, Machine tool driving motor 1-5c, machine tool front-wheel hub connection 1-5d, front wheel carrier constrain 1-5e, front wheel carrier 1-5f, front-wheel 1-5g, side To machine support 1-5h, bottom plate 1-5i, chassis fixed frame 1-5j, chain gearing, machine tool rear wheel frame 1-5n, machine tool rear-wheel 1- 5p, transfer；The bottom plate 1-5i is fixed on the fixed frame 1-5j of chassis；

The machine tool driving motor 1-5c is fixed on bottom plate 1-5i, and transmits power to planetary reduction gear by belt On 1-5b, the output shaft of planetary reduction gear 1-5b passes through chain gearing for power transmission to machine tool rear-wheel 1-5p；The chain Transmission device includes minor sprocket 1-5k, transmission chain tensioning wheel carrier 1-5l, chain tension gear 1-5m, transmission big sprocket wheel 1-5o and chain 1-5q；

As shown in figure 20, the transfer includes the first steering link 1-5r, turns to hinge 1-5s, the second steering link 1-5t, third steering link 1-5u, the 4th steering link 1-5v, steering engine driver plate 1-5w, transfer are located at below bottom plate 1-5i； The first steering link 1-5r is connect with the machine tool front-wheel hub connection 1-5d on both sides respectively；The second steering link 1- The both ends 5t and the first steering link 1-5r are hinged, one end of the second steering link 1-5t simultaneously with third steering link 1- 5u is hinged, and described 4th one end steering link 1-5v is connect with steering engine driver plate 1-5w, and the other end and third steering link 1-5u are cut with scissors It connects；

As shown in figure 3, figure 4 and figure 5, the emitter 1-6 includes first segment transmitting pipeline 1-6a, the second section transmitting tube Road 1-6b, third section transmitting pipeline 1-6c, third section transmitting pipeline front rotary flange connector 1-6d, Section of four transmitting pipeline 1-6e, rotation direction adjuster, Section of five transmitting pipeline 1-6h, gas-guide tube 1-6i, constant pressure type supply high pressure gas storehouse 1-6j, revolve for bulb Turned flange connector 1-6k, for bulb road 1-6l, Section of four transmitting pipeline rear portion rotary flange connector 1-6m；

The first segment transmitting pipeline 1-6a, the second section transmitting pipeline 1-6b, third section transmitting pipeline 1-6c, transmitting pipeline Common bump joint 1-6d, Section of four transmitting pipeline 1-6e, Section of five transmitting pipeline 1-6h are sequentially connected, in Section of four transmitting tube Rotation direction adjuster is provided on road 1-6e, the rotation direction adjuster includes adjustment gear 1-6f, outer gear ring 1-6p, adjusts motor 1- 6g, friction plate 1-6r, Section of four transmitting pipeline front end rotary flange connector 1-6d and Section of four transmitting pipeline rear end rotary flange Connector 1-6m；Outer gear ring 1-6p, adjustment gear 1-6f and the 4th section of transmitting are provided on Section of four transmitting pipeline 1-6e The outer gear ring 1-6p engagement being arranged on pipeline 1-6e；Under the action of adjusting motor 1-6g, Section of four transmitting pipeline 1-6e can revolve Turn；Section of four transmitting pipeline 1-6e is provided with rotation direction adjuster 1-6n, the rotation direction adjuster 1-6n is by manually may be used So that friction plate is pushed or is risen, when passing through tennis, tennis rotation direction is changed by friction, emits the ball of different rotation directions；

As shown in Figure 11, Figure 12 and Figure 13, the screw rod supplying device of ball 1-7 includes spiral release bar 1-7a, release bar connection Axis device 1-7b, pass pipeline 1-7c, ball-storing box 1-7d, for ball motor frame 1-7e, for ball motor 1-7f；The pass pipeline 1-7c Positioned at the lower section of ball-storing box 1-7d, the ball-storing box 1-7d is connected to the pass pipeline 1-7c, the spiral release bar 1-7a In the pass pipeline 1-7c, one end is connect with release bar shaft coupling 1-7b, release bar shaft coupling 1-7b with for ball One end of motor 1-7f connection, the pass pipeline 1-7c is connected with described for bulb pipeline joint 1-4a；

As shown in Figure 16, Figure 17, Figure 18, the handset 2 include hydraulic push rod 2-1, ball frame 2-11, handset chassis 2-18, Ball frame door 2-21, running gear, dribble system, ball system is dialled；

The hydraulic push rod 2-1 is arranged between ball frame 2-11 and ball frame door 2-21, is used to open ball frame door 2-21；

Running gear includes handset rear-wheel 2-2, omnidirectional wheel carrier 2-3, omni-directional wheel 2-4, handset rear wheel frame 2-19, handset rear-wheel Driving motor 2-20；The handset rear wheel drive motor 2-20 is fixed on handset rear wheel frame 2-19, the handset rear wheel frame 2- 19 are fixed on the 2-18 of handset chassis, and the omni-directional wheel 2-4 is mounted on omnidirectional wheel carrier 2-3, and omnidirectional wheel carrier 2-3 is fixed on handset On the 2-18 of chassis；

Dribble system includes push the ball belt 2-7, transmission small pulley 2-8, driving belt 2-9, transmission big belt wheel 2-10, master Dynamic roller 2-12, belt tensioning drum 2-13, driven roller 2-14, handset dribble motor 2-15, slideway 2-5；The handset dribble electricity The machine 2-15 and transmission small pulley 2-8, the transmission small pulley 2-8 are connected by driving belt 2-9 and transmission big belt wheel 2-10 It connects；The transmission big belt wheel 2-10 is connect with the drive roll 2-12, the drive roll 2-12 and the driven roller 2- The belt 2-7 that pushes the ball is installed between 14, the belt tensioning drum 2-13 be used to adjust the belt 2-7 that pushes the ball between slideway 2-5 Away from；

Dialling ball system includes dialling ball disk 2-6, handset group ball coil motor 2-16, dialling ball retarder 2-17, slideway 2-5；It is described Handset dials ball coil motor 2-16 and is connected with described group of ball retarder 2-17, and described group of ball retarder 2-17 connects with ball disk 2-6 is dialled It connects, if described group of ball disk 2-6 is made of dry plate elastic plectrum.

The course of work:

Receive ball process:

When helping trainer's training, machine tool 1 is instructed according to trainer, is automatically moved to designated place and is carried out fixed point hair Ball, while handset 2 is discharged, the tennis being scattered is collected in court by handset 2.Handset 2 recycles tennis in traveling, dials ball disk 2- Tennis is dialled in slideway 2-5 by 6, is then squeezed and is rubbed caused by the driving belt 2-9 by the roller drive as rotating, makes Tennis is admitted in ball-storing box 1-7d along slideway 2-5, completes to receive ball work.

Hand over ball process:

When handset 2, which receives ball, to be kept ball frame 2-11 full or receive the insufficient signal of ball number in 1 ball frame of machine tool, handset is maked a return voyage friendship Ball.It is dynamic to provide by the motor of double-screw lifting device 1-8 in the traveling to the bearing plate of double-screw lifting device 1-8 of handset 2 Power drives screw rod rotation, and the handset 2 carried by bearing plate is raised to the friendship ball position of setting by the cooperation rotation of both sides screw rod Set, since the ball bottom frame 2-11 is equipped with constant slope, so when after chamber door by hydraulic push rod 2-1 opening after, tennis will be along Inclined-plane rolls into ball-storing box ball-storing box 1-7d, completes to hand over ball work.

For ball process:

Under the action of ball-storing box 1-7d bottom slight ramp, the tennis inside ball-storing box 1-7d can pour in pass pipeline 1- Under spiral release bar 1-7a effect in 7c, then by driving rotation for ball motor 1-7f, tennis is transmitted to cam enter ball device In 1-4.Goal motor 1-4g provides power, by the engaged transmission of goal pinion gear 1-4f and goal gear wheel 1-4h, drives Turning handle 1-4c rotation has " characteristic that can convert rotary motion to linear reciprocating motion " further according to crank link mechanism, Goal piston 1-4l is enabled to do linear motion up and down reciprocatingly, to will be sent by screw rod supplying device of ball 1-7 for bulb road Tennis in interface 1-4a heads into service pipeline, completes to work for ball.It, can be by adjusting Each part during for ball Operating rate control for ball frequency, and then control service frequency.

Service process:

Section five, the tennis in transmitting pipeline 1-6h is sent by cam enter ball device 1-4, is mentioned by screw air compressor 1-2 For, by constant pressure type supply high pressure gas storehouse 1-6j and ratio valve regulation control high pressure gas effect under, successively by Section four hair Pipeline 1-6e, third section transmitting pipeline 1-6c, the second section transmitting pipeline 1-6b and first segment transmitting pipeline 1-6a are penetrated, is launched It is external out.

The driving of inverted triangle chassis and steering procedure:

Chassis driving is to provide power by machine tool driving motor 1-5c, imparts power to planetary reduction gear by V belt translation 1-5b after retarder increases torque, and imparts power to machine tool rear-wheel 1-5p by chain conveyer, independently drives to complete rear-wheel It is dynamic.

It is to provide torque by steering engine driver plate 1-5w that chassis, which turns to, and two front-wheel 1-5g are driven by the movement of steering link It is turned to.

It serves a ball high low adjustment:

Elevating mechanism motor 1-1k provides power, and by the engaged transmission of pinion gear 1-1a and gear wheel 1-1b, power is passed Pass driving gearshaft 1-1d, further through engaging for driving gearshaft 1-1d and sector gear 1-1g, make sector gear 1-1g with The central axis of oneself is that rotary shaft rotates in a vertical plane different positions, due to the top sector gear 1-1g and first It saves transmitting pipeline 1-6a to be connected, so will drive first segment transmitting pipeline 1-6a and the second section transmitting pipeline 1-6b realizes vertical side Upward raises and drags down movement.

Horizontal direction of serving a ball is adjusted:

Steering wheel motor 1-3f provides power, is engaged, is imparted power to by the worm gear on worm and wheel gear shaft Worm-gear toothing wheel shaft engages with the gear on gear shaft further through the gear on worm-gear toothing wheel shaft, imparts power to gear shaft 1- 3h, and because the gear on gear shaft 1-3h is engaged with sector gear guide rail 1-3c, and sector gear guide rail 1-3c is fixed, So gear shaft 1-3h can be using the central axis of sector gear guide rail 1-3c as rotation axis, which is Fig. 3 for bulb road 1- The central axis of 6l；Different positions is rotated in the horizontal direction.Again because of the top traversing pinion axis 1-3h and third section Transmitting pipeline 1-6c is connected with the tail portion elevating mechanism motion bracket 1-1i, so will drive entire transmitting pipeline system and entire height Machine is that Pivot axle does the swing in horizontal direction for the central axis of bulb road 1-6l, and elevating mechanism is transported along guide rail 1-1f It is dynamic.

As shown in figure 3, figure 4 and figure 5, tennis rotation direction is adjusted:

Emitter adjusts motor 1-6g and provides power, passes through emitter adjustment gear 1-6f and the 4th section of transmitting pipeline Gear wheel engaged transmission on 1-6e, makes Section of four transmitting pipeline 41-6e rotate around axis, drives and Section of four hair It penetrates the rotation direction adjuster that pipeline 41-6e is fixed together and rotates to different positions together.Rotation direction adjuster is protruded by one piece Rectangle friction plate in pipeline is squeezed and is rubbed to the tennis by pipeline, due to Section of four transmitting pipeline 41-6e Other parts of the inside in addition to stripper plate are smooth compared with friction plate surface, so the tennis passed through meeting after unevenly rubbing With certain rotation direction, so as to launch the tennis of the various rotation directions such as top spin, chop.Also, works as and use inhomogeneity When tennis (the soft ball/hard sphere) of type, it can be rubbed by manually adjusting deeply measuring relatively for friction plate in rotation direction adjuster to change Wiping board avoids hurting ball to tennis extruding force and frictional force size.

Claims (1)

1. tennis training robot, including machine tool (1) and handset (2), it is characterized in that:

The machine tool (1) includes elevating mechanism (1-1), screw air compressor (1-2), steering wheel (1-3), cam enter ball device (1- 4), inverted triangle chassis (1-5), emitter (1-6), screw rod supplying device of ball (1-7), double-screw lifting device (1-8)；It is described double Screw air compressor (1-2) is mounted on the lower section of steering wheel (1-3) on inverted triangle chassis (1-5)；

The elevating mechanism (1-1) includes pinion gear (1-1a), gear wheel (1-1b), inside shell (1-1c), driving gearshaft (1- 1d), outside shell (1-1e), guide rail (1-1f), sector gear (1-1g), bearing (1-1h), motion bracket (1-1i), elevating mechanism Motor rack (1-1j), elevating mechanism motor (1-1k)；The pinion gear (1-1a) connect with the elevating mechanism motor (1-1k), and with Gear wheel (1-1b) engagement, gear wheel (1-1b) are connect with the driving gearshaft (1-1d), driving gearshaft (1-1d) Lower part be located at the inside shell (1-1c) and space that outside shell (1-1e) is surrounded in；The inside shell (1-1c) It can be slided on the guide rail (1-1f) with outside shell (1-1e), the driving gearshaft (1-1d) and sector gear (1-1g) Engagement, the sector gear (1-1g) are connect by bearing (1-1h) with motion bracket (1-1i)；

The third section transmitting pipeline (1-6c) of the motion bracket (1-1i) of the elevating mechanism (1-1) and emitter (1-6) hingedly, The end of the sector gear (1-1g) is contacted with the first segment transmitting pipeline (1-6a) of emitter (1-6)；

The steering wheel (1-3) includes lower turning handle (1-3a), steering wheel shell (1-3b), sector gear guide rail (1-3c), upper turn Handle (1-3d), shaft coupling (1-3e), steering wheel motor (1-3f), steering wheel motor rack (1-3g)；

The steering wheel motor (1-3f) is fixed on the steering wheel motor rack (1-3g), the output of steering wheel motor (1-3f) Axis is connect by shaft coupling (1-3e) with transmission device, and upper turning handle one end (1-3d) and swing rod (1-3h) hingedly, are fixed in swing rod Gear on (1-3h) is engaged with sector gear guide rail (1-3c)；Described lower turning handle (1-3a) one end is connect with transmission device, separately One end and swing rod (1-3h) are hinged；The sector gear guide rail (1-3c) and inverted triangle chassis (1-5) are affixed；

The cam enter ball device (1-4) includes for bulb pipeline joint (1-4a), connecting rod (1-4b), turning handle (1-4c), end cap (1- 4d), connecting rod rack (1-4e), goal pinion gear (1-4f), goal motor (1-4g), goal gear wheel (1-4h), goal piston (1-4l)；

The goal motor (1-4g) and goal pinion gear (1-4f) are affixed, goal pinion gear (1-4f) and goal gear wheel (1- It 4h) engages, the goal gear wheel (1-4h) is connected by the transmission shaft on connecting rod rack (1-4e) with jointed gear unit, institute Stating jointed gear unit includes turning handle (1-4c), connecting rod (1-4b) and connecting rod rack (1-4e), is provided in the transmission shaft end End cap (1-4d)；Hingedly, the other end and turning handle (1-4c) are hinged by described connecting rod one end (1-4b) and goal piston (1-4l)；

The inverted triangle chassis (1-5) includes rear guard (1-5a), planetary reduction gear (1-5b), machine tool driving motor (1- 5c), machine tool front-wheel hub connection (1-5d), front wheel carrier constrain (1-5e), front wheel carrier (1-5f), front-wheel (1-5g), steering wheel After bracket (1-5h), bottom plate (1-5i), chassis fixed frame (1-5j), chain gearing, machine tool rear wheel frame (1-5n), machine tool Take turns (1-5p), transfer；The bottom plate (1-5i) is fixed on chassis fixed frame (1-5j)；

The machine tool driving motor (1-5c) is fixed on bottom plate (1-5i), and transmits power to planetary reduction gear by belt On (1-5b), the output shaft of planetary reduction gear (1-5b) passes through chain gearing for power transmission to machine tool rear-wheel (1-5p)； The chain gearing includes minor sprocket (1-5k), transmission chain tensioning wheel carrier (1-5l), chain tension gear (1-5m), is driven greatly Sprocket wheel (1-5o) and chain (1-5q)；

The transfer includes the first steering link (1-5r), turns to hinge (1-5s), the second steering link (1-5t), third Steering link (1-5u), the 4th steering link (1-5v), steering engine driver plate (1-5w), transfer are located at below bottom plate (1-5i)； First steering link (1-5r) connect with the machine tool front-wheel hub connection (1-5d) on both sides respectively；Described second company of steering Hingedly, one end of the second steering link (1-5t) turns with third simultaneously for the bar both ends (1-5t) and first steering link (1-5r) Hingedly to connecting rod (1-5u), the 4th steering link one end (1-5v) is connect with steering engine driver plate (1-5w), the other end and third Steering link (1-5u) is hinged；

The emitter (1-6) includes first segment transmitting pipeline (1-6a), the second section transmitting pipeline (1-6b), the transmitting of third section Pipeline (1-6c), third section transmitting pipeline front rotary flange connector (1-6d), Section of four transmitting pipeline (1-6e), rotation direction are adjusted Device, Section of five transmitting pipeline (1-6h), gas-guide tube (1-6i), constant pressure type supply high pressure gas storehouse (1-6j), for bulb rotary flange Connector (1-6k), for bulb road (1-6l), Section of four transmitting pipeline rear portion rotary flange connector (1-6m)；

The first segment transmitting pipeline (1-6a), the second section transmitting pipeline (1-6b), third section transmitting pipeline (1-6c), transmitting tube The common bump joint in road (1-6d), Section of four transmitting pipeline (1-6e), Section of five transmitting pipeline (1-6h) are sequentially connected, the 4th It is provided with rotation direction adjuster on section transmitting pipeline (1-6e), the rotation direction adjuster includes adjustment gear (1-6f), outer gear ring (1- 6p), adjusting motor (1-6g), friction plate (1-6r), Section of four transmitting pipeline front end rotary flange connector (1-6d) and Section four Transmitting pipeline rear end rotary flange connector (1-6m)；Outer gear ring (1-6p), institute are provided on Section of four transmitting pipeline (1-6e) The outer gear ring (1-6p) being arranged on adjustment gear (1-6f) and Section of four transmitting pipeline (1-6e) is stated to engage；Adjusting motor (1- Under the action of 6g), Section of four transmitting pipeline (1-6e) is rotatable；Section of four transmitting pipeline (1-6e) is provided with rotation direction tune It saves device (1-6n), the rotation direction adjuster (1-6n) when passing through tennis, is passed through by the way that friction plate can be made to push or rise manually Friction changes tennis rotation direction, emits the ball of different rotation directions；

The screw rod supplying device of ball (1-7) includes spiral release bar (1-7a), release bar shaft coupling (1-7b), pass pipeline (1- 7c), ball-storing box (1-7d), for ball motor frame (1-7e), for ball motor (1-7f)；The pass pipeline (1-7c) is located at ball-storing box The lower section of (1-7d), the ball-storing box (1-7d) are connected to the pass pipeline (1-7c), spiral release bar (1-7a) position In the pass pipeline (1-7c), one end is connect with release bar shaft coupling (1-7b), the release bar shaft coupling (1-7b) and It is connected for ball motor (1-7f), one end of pass pipeline (1-7c) is connected with described for bulb pipeline joint (1-4a)；

The handset (2) includes hydraulic push rod (2-1), ball frame (2-11), handset chassis (2-18), ball frame door (2-21), walking System, dials ball system at dribble system；

The hydraulic push rod (2-1) is arranged between ball frame (2-11) and ball frame door (2-21), is used to open ball frame door (2-21)；

The running gear include handset rear-wheel (2-2), omnidirectional's wheel carrier (2-3), omni-directional wheel (2-4), handset rear wheel frame (2-19), Handset rear wheel drive motor (2-20)；The handset rear wheel drive motor (2-20) is fixed on handset rear wheel frame (2-19), institute It states handset rear wheel frame (2-19) to be fixed on handset chassis (2-18), the omni-directional wheel (2-4) is mounted on omnidirectional's wheel carrier (2-3) On, omnidirectional's wheel carrier (2-3) is fixed on handset chassis (2-18)；

The dribble system includes push the ball belt (2-7), transmission small pulley (2-8), driving belt (2-9), transmission big belt wheel (2- 10), drive roll (2-12), belt tensioning drum (2-13), driven roller (2-14), handset dribble motor (2-15), slideway (2- 5)；Handset dribble motor (2-15) and the transmission small pulley (2-8), the transmission small pulley (2-8) pass through transmission skin Band (2-9) is connect with transmission big belt wheel (2-10)；The transmission big belt wheel (2-10) connect with the drive roll (2-12), institute It states and is equipped between drive roll (2-12) and the driven roller (2-14) belt of pushing the ball (2-7), the belt tensioning drum (2- 13) for adjusting the spacing with slideway (2-5) of belt of pushing the ball (2-7)；

Described group of ball system includes dialling ball disk (2-6), handset group ball coil motor (2-16), dialling ball retarder (2-17), slideway (2- 5)；The handset dials ball coil motor (2-16) and is connected with described group of ball retarder (2-17), the described group of ball retarder (2-17) and Ball disk (2-6) connection is dialled, described group of ball disk (2-6) dry plate elastic plectrum if be made of.