CN209714212U - A kind of Air volleyball service robot - Google Patents
A kind of Air volleyball service robot Download PDFInfo
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- CN209714212U CN209714212U CN201821635954.XU CN201821635954U CN209714212U CN 209714212 U CN209714212 U CN 209714212U CN 201821635954 U CN201821635954 U CN 201821635954U CN 209714212 U CN209714212 U CN 209714212U
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- 230000007246 mechanism Effects 0.000 claims abstract description 116
- 230000003028 elevating effect Effects 0.000 claims abstract description 27
- 230000000694 effects Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- 230000005855 radiation Effects 0.000 description 1
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Abstract
The utility model relates to a kind of Air volleyball service robots, include: base；Serving mechanism；Control circuit；Ball frame is stored up, stores up and is provided with ball mouth on ball frame；Ball machine structure is led, has and leads ball channel from the ball mouth activity to the serving mechanism for ball；Elevating mechanism, to drive ball to rise along ball channel is led；Clamp-proof mechanism blocks ball mouth to drive the ball activity for being placed in storage ball frame to avoid ball；Driving device, the driving device can drive elevating mechanism and clamp-proof mechanism activity simultaneously；Driving device includes: driving mechanism；First transmission mechanism connects driving mechanism and clamp-proof mechanism, and clamp-proof mechanism is made to drive the ball activity for being placed in storage ball frame；Second transmission mechanism, driving mechanism and elevating mechanism are connected, and drives elevating mechanism up and down along ball channel is led, this Air volleyball service robot is provided with a motor to carry out anti-sticking ball and lifting for ball and act, reduce the manufacturing cost of Air volleyball service robot, structure is also more compact.
Description
Technical field
The utility model relates to a kind of trained equipment, specifically, being related to a kind of Air volleyball service robot.
Background technique
With the development of science and technology, athletic training gradually in conjunction with modern science, enables sportsman in science and technology
More rapidly and effectively hoisting power under auxiliary.And Air volleyball service robot is a kind of work for being able to achieve automatic transmitting Air volleyball
Tool, can practice the movement such as receive, pass convenient for sportsman for a long time.
Previous Air volleyball service robot carries out anti-sticking ball using two motors respectively and lifting is acted for ball, increases gas
The manufacturing cost of volleyball service machine, structure are also not compact enough.
Utility model content
The utility model is in view of the above-mentioned problems, provide a kind of reduction manufacturing cost, compact-sized Air volleyball service robot.
In order to solve the above technical problems, the utility model provides a kind of Air volleyball service robot, include: base；Serving mechanism；
Control circuit；Ball frame is stored up, stores up and is provided with ball mouth on ball frame；Ball machine structure is led, is had for ball from ball mouth activity to serving mechanism
Ball channel is led, the stopping device for being equipped on ball channel and only passing through from the bottom up for ball is led；Elevating mechanism, to drive ball edge
Lead the rise of ball channel；Clamp-proof mechanism blocks column ball mouth to drive the ball activity for being placed in storage ball frame to avoid ball；Driving
Device；Driving device can drive elevating mechanism and clamp-proof mechanism activity simultaneously；Driving device includes: driving mechanism；First transmission
Mechanism connects driving mechanism and clamp-proof mechanism, and clamp-proof mechanism is made to drive the ball activity for being placed in storage ball frame；Second driver
Structure connects driving mechanism and elevating mechanism, and drives elevating mechanism up and down along ball channel is led.
Preferably, driving mechanism includes geared worm, driving motor；The output shaft of the driving motor and geared worm phase
Connection is to geared worm output torque；First transmission mechanism include Geneva mechanism, engaged with geared worm first
Worm gear；Geneva mechanism includes active driver plate, driven sheave, and the first worm gear is installed on active driver plate and coaxial with active driver plate
The heart；Clamp-proof mechanism includes paddle, and paddle is connected on driven sheave by shaft.
Preferably, elevating mechanism includes the guide post to extend vertically, the annular push plate for being socketed on guide post periphery；Second passes
Motivation structure include be connected to the second worm gear of geared worm, both ends are hingedly connected to the second worm gear and the connecting rod of annular push plate；It passes
Drive annular push plate up and down reciprocatingly movable along guide post by connecting rod when dynamic worm screw rotation.
Preferably, being provided with support frame on base, serving mechanism includes: rotation driving section, position on support frame
In the service part on rotary drive mechanism；Service part includes: mechanism shell, the throwing being rotatably arranged on mechanism shell
Ball component, toss driving assembly；Toss driving assembly is between mechanism shell and toss component, to drive toss component to turn
Dynamic, rotational angle range is -45 °~45 °.
Preferably, toss driving assembly includes: being set to the elevation angle motor and elevation angle motor of mechanism shell plate upper surface
The gear drive that output shaft is connected.
Preferably, toss component includes: the target being arranged on vertical direction；The hair for ball transmitting is provided in the middle part of target
Ball mouth is connected with arc service track with service mouth, and target both ends in the horizontal direction and gear drive can be rotated
Connection；The first service motor on target, second service motor, third service motor are set in isosceles triangle；In product word
Shape is set to the first transmitting wheel, the second transmitting wheel, third transmitting wheel around service mouth, is connected to first service motor,
Second service motor, third serve a ball motor output shaft on.
Preferably, rotation driving section includes: installing rotating electric machine on the support frame；Be connected worm gear with rotating electric machine
Worm gearing；The rotatable support shaft being connected with Worm and worm-wheel gearing, support shaft top are connected with service part,
Support shaft can be rotated under the drive of Worm and worm-wheel gearing.
By using above-mentioned technical proposal, the utility model can obtain following technical effect:
Anti-sticking ball is completed using a motor and lifting is acted for ball, reduces the manufacturing cost of Air volleyball service robot,
The structure of Air volleyball service robot is set to become more compact.
Detailed description of the invention
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments；
Fig. 1 is the overall appearance schematic diagram of this Air volleyball service robot；
Fig. 2 is the structural schematic diagram of this Air volleyball service robot；
Fig. 3 is the structural schematic diagram for the component being arranged on this Air volleyball service robot base；
Fig. 4 is the structural schematic diagram of above-mentioned serving mechanism；
Fig. 5 is the structural schematic diagram of the above-mentioned serving mechanism other side.
Specific embodiment
It is practical below in conjunction with this to keep the purposes, technical schemes and advantages of the utility model embodiment clearer
The technical solution in the utility model embodiment is clearly and completely described in attached drawing in novel embodiment, shows
So, described embodiment is a part of embodiment of the utility model, rather than whole embodiments.It is practical based on this
Embodiment in novel, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment is fallen within the protection scope of the utility model.Therefore, the implementation to the utility model provided in the accompanying drawings below
The detailed description of mode is not intended to limit the range of claimed invention, but is merely representative of the utility model
Selected embodiment.
In conjunction with shown in Fig. 1 to Fig. 3, the Air volleyball service robot of the utility model includes base 1；The control being set on base 1
Circuit 3 processed, movement of the control circuit 3 to control each component of Air volleyball service robot.The support frame 9 being set on base 1, support
Frame 9 divides for frame portion and support portion, and wherein frame portion is fixed on base 1.One serving mechanism 2, service robot are installed on support portion
Structure 2 can rotate in the horizontal direction relative to support portion.Machine base outer shell 16 is connected to threadably on base 1,
On be provided with one can with storage ball frame 4 formed socket installing port.Storage ball frame 4 is socketed on above-mentioned installing port, and bottom is provided with one and goes out
Ball mouth 4a.Clamp-proof mechanism 7 is mounted on base 1 and partially protrudes among storage ball frame 4, to drive the ball for being placed in storage ball frame 4
Activity, to avoid the clogging ball mouth 4a of ball.Ball machine structure 5 is led to be mounted on base 1, have for ball from ball mouth 4a activity extremely
Serving mechanism 2 leads ball channel 5a.It leads and elevating mechanism 6 is installed below the 5a of ball channel, ball edge can be driven to lead ball channel 5a
It rises.Driving device 8 is connected with clamp-proof mechanism 7 and elevating mechanism 6, to drive elevating mechanism 6 and clamp-proof mechanism 7 living simultaneously
It is dynamic.
In conjunction with shown in Fig. 1 to Fig. 3, driving device 8 includes: driving mechanism 8a；Driving mechanism 8a and clamp-proof mechanism 7 are connected,
And clamp-proof mechanism 7 is made to drive the movable first transmission mechanism 8b of ball for being placed in storage ball frame 4；Connect driving mechanism 8a and elevator
Structure 6, and drive elevating mechanism 6 along leading the up and down second transmission mechanism 8c of ball channel 5a.Above-mentioned driving mechanism 8a includes transmission
The one end worm screw 8a1, driving motor 8a2, geared worm 8a1 is connected on driving motor 8a2 output shaft, and the other end passes through bearing
It is connected with the bearing block being mounted on base 1, the geared worm 8a1 and 1 bottom surface of base are in parallel position relationship.Above-mentioned
One transmission mechanism 8b includes Geneva mechanism 8b1, the first worm gear 8b2.Geneva mechanism 8b1 include active driver plate, driven sheave, first
Worm gear 8b2 is installed on active driver plate and concentric with active driver plate.Second transmission mechanism 8c includes to be connected to geared worm 8a1
The second worm gear 8c1, both ends be hingedly connected to the connecting rod 8c2 of the second worm gear 8c1 and elevating mechanism 6.First worm gear 8b2 and second
Worm gear 8c1 is meshed with geared worm 8a1, so that driving motor 8a2 can drive the first transmission by geared worm 8a1
Mechanism 8b and the second transmission mechanism 8c.The extending direction for being axially perpendicular to guide post 6a of the pivot center of second worm gear 8c1.
In conjunction with shown in Fig. 1 to Fig. 3, clamp-proof mechanism 7 is made of paddle 7a and shaft 7b, and paddle 7a is by three poking bars
It constitutes, is fixed at the top of shaft 7b in isosceles triangle, the space that ball can be formed easily across poking bar.The bottom shaft 7b
It is fixed on driven sheave, paddle 7a is enabled to realize that interval dials ball movement under the drive of driven sheave.Lifting
Mechanism 6 includes the guide post 6a to extend vertically, the annular push plate 6b for being socketed on the periphery guide post 6a；Annular push plate 6b includes ring portion
6b1 and plate portion 6b2, wherein ring portion 6b1 is used to support ball movable upwards, and plate portion 6b2 is articulated on above-mentioned connecting rod 8c2, so that
Geared worm 8a1 can drive annular push plate 6b up and down reciprocatingly movable along guide post 6a when rotating by the connecting rod 8c2.
As shown in Fig. 4 to Fig. 5, serving mechanism 2 includes the rotation driving section 2a being located on support frame 9, is located at rotation and drives
Service part 2b on motivation structure 8a.Service part 2b includes: mechanism shell 2b1, being rotatably arranged on mechanism shell 2b1
Toss component 2b2, toss driving assembly 2b3；Toss driving assembly 2b3 be located at mechanism shell 2b1 and toss component 2b2 it
Between, to drive toss component 2b2 to rotate, rotational angle range is -45 °~45 °.Toss driving assembly 2b3 includes: being set to
The elevation angle motor 2b31 of mechanism shell 2b1 plate upper surface, the gear drive being connected with elevation angle motor 2b31 output shaft
2b32.If Fig. 4, gear drive 2b32 include a pair of first bevel gears group, a pair of of the second bevel gear group of two sides, elevation angle electricity
Machine 2b31 cooperates the first drive rod to be connected with a pair of first bevel gears group by gear engagement component, each first bevel gear wheel group
It is connect respectively by one second drive rod with a second bevel gear wheel group.The one of a pair of of second bevel gear group and support toss component
Bearing is connected.Toss component 2b2 includes: the target 2b21 being arranged on vertical direction, is provided in the middle part of target 2b21 for ball
The service mouth 2b22 of transmitting is connected with arc service track 2b23, target both ends in the horizontal direction with service mouth 2b22
It is rotatably connect with the gear drive 2b32；The first service motor being set in isosceles triangle on the target
2b24, second service motor 2b25, third service motor 2b26；First around the service mouth 2b22 is set in isosceles triangle
Transmitting wheel 2b27, the second transmitting wheel 2b28, third transmitting wheel 2b29, are connected to first service motor 2b24, second service
Motor 2b25, third serve a ball motor 2b26 output shaft on.Ball can enter service mouth 2b22 from above-mentioned arc service track 2b23,
Elevation angle motor 2b31 can be controlled target by gear drive 2b32 and carry out overturning to control the launch angle of ball.Ball exists
The first transmitting wheel 2b27, the second transmitting wheel 2b28, third transmitting wheel 2b29 pass through rotation steering ball output after into service mouth 2b22
Torque enables Air volleyball service robot to launch the ball of different rotation directions.Rotation driving section 2a includes: being mounted on the support
Rotating electric machine 2a1 on frame 9；Be connected Worm and worm-wheel gearing 2a2 with the rotating electric machine 2a1；With Worm Wheel System
The service part 2b, support shaft 2a3 energy are connected at the top of the rotatable support shaft 2a3 that mechanism 2a2 is connected, support shaft 2a3
Rotated under the drive of Worm and worm-wheel gearing 2a2, enable serving mechanism 2 with respect to support frame 9 in the horizontal direction
It is rotated, to control the service direction of Air volleyball service robot in the horizontal direction.
In conjunction with shown in Fig. 1 to Fig. 3, leading ball machine structure 5 includes: the ball of leading for ball from ball mouth 4a activity to serving mechanism 2 leads to
Road 5a leads the ball hole 5b for being provided on the 5a of ball channel and entering for ball and leading ball channel 5a.It is connected to above-mentioned ball mouth 4a and ball hole
Between 5b for ball slideway 13.The position of ball mouth 4a should be higher than that the position of ball hole 5b, enable ball successfully through sliding for ball
Road 13 enters ball hole 5b from ball mouth 4a, and the bottom for leading ball channel 5a is provided with an annular support body 11, this circumferential support
Body 11 is open loop structure, and there are the opening passed through for above-mentioned annular push plate 6b plate portion, balls to enter from ball hole 5b for open ring position
When leading ball channel 5a by temporal persistence in annular support body 11, annular push plate 6b will be from the lower section of this annular support body 11 at this time
It sets out, takes over the ball rested in annular support body 11 across the opening, live upwards so that ball edge be driven to lead ball channel 5a
It is dynamic.It leads and stopping device 12 is installed on the 5a of ball channel, stopping device 12 can be Chinese utility model patent specification
Retaining bolt disclosed in CN203598453U, with one-way, ball is only filled by retaining from the bottom up in this embodiment
12 are set, do not can return to.The distance of maximum travel position to annular support body of the above-mentioned elevating mechanism 6 on direction straight up is small
In the diameter of ball, is can guarantee in this way when being moved upwards after elevating mechanism 6 takes over ball, can be blocked for the ball on ball slideway 13
It is leading outside the 5a of ball channel.When elevating mechanism 6 moves downwardly to annular support height or less position, for the ball on ball slideway 13
It gets enter into and leads ball channel 5a, to provide continuously for elevating mechanism 6 for ball.Base bottom is equipped with a pair of of pulley blocks 14 and one
To roller group 15, moved for Air volleyball service robot.
In conjunction with shown in Fig. 1 to Fig. 5, ball is entered from the ball mouth 4a on storage ball frame 4 for ball under the action of clamp-proof mechanism 7
Slideway 13 is led in the 5a of ball channel along entering for ball slideway 13, and ball rises along ball machine structure 5 is led under the effect of elevating mechanism 6
To stopping device 12 is passed through, elevating mechanism 6 is begun to decline at this time, and after elevating mechanism 6 is passed down through annular support 11, ball continues
Into the annular support body 11 led on the 5a of ball channel.By the continuously reciprocating motion of elevating mechanism 6 several times, ball is constantly to lead ball logical
It adds up in road 5a, until squeezing out from the opening led above the 5a of ball channel, ball is by dropping down onto serving mechanism 2 after leading ball channel 5a
In, to carry out delivery of service with the radiation pattern that control circuit 3 is set.
The above is only preferred embodiments of the present invention, are not intended to limit the utility model, for ability
For the technical staff in domain, various modifications and changes may be made to the present invention.It is all the spirit and principles of the utility model it
Interior, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (7)
1. a kind of Air volleyball service robot, includes:
Base (1)；
Serving mechanism (2)；
Control circuit (3)；
It stores up ball frame (4), stores up and be provided with ball mouth (4a) on ball frame；
Ball machine structure (5) are led, has and leads ball channel (5a) from the ball mouth (4a) activity to the serving mechanism (2) for ball,
It is described to lead the stopping device (12) for being equipped on ball channel (5a) and only passing through from the bottom up for ball；
Elevating mechanism (6), to drive ball to rise along ball channel (5a) is led；
Clamp-proof mechanism (7) blocks ball mouth (4a) to drive the ball activity for being placed in storage ball frame (4) to avoid ball；
Driving device (8)；The driving device (8) can drive elevating mechanism (6) and clamp-proof mechanism (7) activity simultaneously；
It is characterized in that, the driving device (8) includes:
Driving mechanism (8a)；
First transmission mechanism (8b) connects driving mechanism (8a) and clamp-proof mechanism (7), and drives clamp-proof mechanism (7) and be placed in
Store up the ball activity of ball frame (4)；
Second transmission mechanism (8c) connects driving mechanism (8a) and elevating mechanism (6), and drives elevating mechanism (6) logical along ball is led
(5a) is up and down in road.
2. a kind of Air volleyball service robot according to claim 1, which is characterized in that the driving mechanism (8a) includes transmission
Worm screw (8a1), driving motor (8a2)；The output shaft of the driving motor (8a2) be connected with geared worm (8a1) to
Geared worm (8a1) output torque；First transmission mechanism (8b) is nibbled comprising Geneva mechanism (8b1), with geared worm (8a1)
The first worm gear (8b2) closed；The Geneva mechanism includes active driver plate, driven sheave, and first worm gear (8b2) is installed on institute
It states on active driver plate and concentric with active driver plate；The clamp-proof mechanism includes paddle (7a), and paddle (7a) passes through shaft
(7b) is connected on the driven sheave.
3. a kind of Air volleyball service robot according to claim 2, which is characterized in that the elevating mechanism (6) includes vertical
The guide post (6a) of extension, the annular push plate (6b) for being socketed on guide post periphery；Second transmission mechanism (8c) includes connection
The company of the second worm gear (8c1) and annular push plate (6b) is hingedly connected in the second worm gear (8c1) of geared worm (8a1), both ends
Bar (8c2)；Drive annular push plate (6b) along guide post (6a) by the connecting rod (8c2) when the geared worm (8a1) rotates
It is up and down reciprocatingly movable.
4. a kind of Air volleyball service robot according to claim 1, which is characterized in that be provided with support frame on the base
(9), the serving mechanism (2) includes: being located at the rotation driving section (2a) on support frame (9), is located at rotation driving section
Service part (2b) on (2a)；The service part (2b) includes: mechanism shell (2b1) is rotatably arranged on outside mechanism
Toss component (2b2), toss driving assembly (2b3) on shell (2b1)；Toss driving assembly (2b3) is located at mechanism shell (2b1)
Between toss component (2b2), to drive toss component (2b2) to rotate, rotational angle range is -45 °~45 °.
5. a kind of Air volleyball service robot according to claim 4, which is characterized in that toss driving assembly (2b3) includes: setting
The elevation angle motor (2b31) for being placed in mechanism shell (2b1) plate upper surface, the tooth being connected with elevation angle motor (2b31) output shaft
Wheel drive mechanism (2b32).
6. a kind of Air volleyball service robot according to claim 5, which is characterized in that toss component (2b2) includes: vertical side
The target (2b21) set up；The service mouth (2b22) for ball transmitting is provided in the middle part of the target (2b21), and it is described
Service mouth (2b22) be connected with an arc service track (2b23), the target (2b21) both ends in the horizontal direction with it is described
Gear drive (2b32) rotatably connects；The first service motor on the target (2b21) is set in isosceles triangle
(2b24), second service motor (2b25), third serve a ball motor (2b26)；Service mouth (2b22) week is set in isosceles triangle
The first transmitting wheel (2b27), the second transmitting wheel (2b28), third transmitting wheel (2b29) enclosed, is connected to first service motor
(2b24), second service motor (2b25), third serve a ball motor (2b26) output shaft on.
7. a kind of Air volleyball service robot according to claim 4, which is characterized in that rotation driving section (2a) packet
Contain: the rotating electric machine (2a1) being mounted on support frame as described above (9)；Be connected Worm Wheel System with the rotating electric machine (2a1)
Mechanism (2a2)；The rotatable support shaft (2a3) being connected with the Worm and worm-wheel gearing (2a2), the support shaft
The service part (2b) is connected at the top of (2a3), the support shaft (2a3) can be in the band of Worm and worm-wheel gearing (2a2)
It is rotated under dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821635954.XU CN209714212U (en) | 2018-10-09 | 2018-10-09 | A kind of Air volleyball service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821635954.XU CN209714212U (en) | 2018-10-09 | 2018-10-09 | A kind of Air volleyball service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209714212U true CN209714212U (en) | 2019-12-03 |
Family
ID=68672169
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821635954.XU Expired - Fee Related CN209714212U (en) | 2018-10-09 | 2018-10-09 | A kind of Air volleyball service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209714212U (en) |
-
2018
- 2018-10-09 CN CN201821635954.XU patent/CN209714212U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191203 |