CN212548222U

CN212548222U - Service robot

Info

Publication number: CN212548222U
Application number: CN202021754732.7U
Authority: CN
Inventors: 苏永福
Original assignee: Double Arc Cultural And Sports Goods Cangzhou Co Ltd
Current assignee: Double Arc Cultural And Sports Goods Cangzhou Co Ltd
Priority date: 2020-08-20
Filing date: 2020-08-20
Publication date: 2021-02-19
Anticipated expiration: 2030-08-20

Abstract

The invention discloses a pitching machine which comprises a hitting component, a hitting driving component and a rotating driving structure, wherein the rotating driving structure is used for driving a hitting piece to rotate so that the hitting piece can form friction with the surface of a ball body when the ball body is hit. By adopting the technical scheme, the pitching machine can serve balls in a striking mode through the ball hitting piece, is more similar to the effect of hitting balls through a racket, a bat or a swinging limb in real sports compared with a double-roller rotary extrusion ejection mode and a ball throwing mode, and is provided with the rotary driving structure to drive the ball hitting piece to rotate so as to form friction between the ball hitting piece and the surface of the ball when the ball is hit, so that the ball forms a spin after being ejected, and training personnel can receive and serve the spin.

Description

Service robot

Technical Field

The utility model relates to a pitching machine belongs to sports goods technical field.

Background

Ball games are games or sports based on balls, such as table tennis, baseball, soccer, etc. Various training and learning apparatuses matched with ball games are produced, and the pitching machine is the most important training and learning apparatus. The existing ball serving machine usually adopts a double-roller rotary extrusion to perform launching, such as a table tennis ball serving mechanism disclosed in chinese patent document CN106110622A, and a tennis ball serving machine disclosed in chinese patent document CN 104307159A. The existing pitching machine adopting a double-roller rotating extrusion mode has the following problems: firstly, the motion state of the running track of the ball sent out by the friction wheel is random, and a trainer feels that the track of the table tennis is fluctuated and uncertain, which is greatly different from the ball property played by a trainer with a racket; secondly, the training personnel can not judge the timing of the ball in advance, and are not beneficial to do the shooting or other preparation actions; thirdly, the structure is complex, and various faults such as ball jamming and the like are easy to occur; fourthly, the price is high, and one service robot is more than thousands of RMB; fifth, the volume is large, which is not easy to carry.

Disclosure of Invention

Therefore, the utility model aims to provide a mode through hitting launches the spheroid to can launch the service robot who revolves the ball.

In order to achieve the above object, the utility model discloses a service robot, include:

the hitting assembly is used for hitting the ball body so as to enable the ball body to be shot by impact; the striking assembly comprises a mounting base member and a striking member mounted on the mounting base member;

the striking driving component is used for driving the mounting base member to act so as to enable the ball hitting part to move towards the direction close to the ball hitting station and hit a ball body on the ball hitting station;

and the rotary driving structure is used for driving the ball hitting part to rotate so as to enable the ball hitting part to form friction with the surface of the ball when the ball is hit.

The mounting base member comprises a shaft portion, the striking driving assembly can drive the mounting base member to rotate around the shaft portion, and the striking station is located on the motion track of the striking piece.

The beating assembly further comprises a driven wheel arranged on the mounting base piece, the rotary driving structure comprises a driving wheel coaxially arranged with the shaft portion, and the driving wheel is connected with the driven wheel through a transmission belt; the ball hitting piece is the driven wheel or the transmission belt.

The striking driving assembly comprises an elastic part, a power part and a transmission part, the mounting base part is connected with the elastic part, and the power part is connected with the transmission part and used for driving the transmission part to act; the transmission component comprises a first pressing part; the first pressing part can apply force to the mounting base piece and drive the mounting base piece to act so as to enable the elastic component to accumulate energy, and when the mounting base piece reaches the releasing station, the first pressing part can be separated from the mounting base piece so as to release the elastic component.

The elastic component comprises an elastic stretching device, and one end of the elastic stretching device is connected to the mounting base piece and is used for applying tension to the mounting base piece; the transmission component also comprises a rotating part which is coaxial with the shaft part; the first pressing part is arranged on the rotating part and used for shifting the mounting base piece to rotate; the tension spring means intersects the axis of the rotating portion when the mounting base member is at the release station.

The pitching machine also comprises a ball feeding mechanism used for conveying balls to the ball hitting station; the ball feeding mechanism comprises a ball feeding channel and a ball control valve assembly positioned on the ball feeding channel.

The ball control valve assembly comprises a first gate and a second gate which are sequentially arranged on a ball feeding channel along the conveying direction of a ball body, the ball feeding channel is divided into three parts by the first gate and the second gate, namely a ball storage station positioned at the upstream, a temporary storage station positioned at the midstream and a ball hitting station positioned at the downstream, and the temporary storage station is used for storing one ball body.

The ball control valve assembly further comprises a linkage rod for connecting the first gate and the second gate, so that the first gate and the second gate are linked, and when one gate is opened, the other gate is closed.

The transmission part also comprises a linkage structure connected with the ball control valve assembly, and the transmission part drives the ball control valve assembly to act through the linkage structure.

The ball control valve assembly comprises a swing rod, the first gate, the second gate and the linkage rod are positioned at one end of the swing rod, and the other end of the swing rod is arranged on a swing shaft; the linkage structure comprises a second pressing part, and the second pressing part is arranged on the rotating part; when the first pressing part pulls the installation base piece, the second pressing part can push the swing rod to move, so that the second gate is opened and the first gate is closed; when the second pressing part rotates away from the swing rod, the swing rod resets under the action of a reset force, so that the first gate is opened and the second gate is closed.

Adopt above-mentioned technical scheme, the utility model discloses a pitching machine compares with prior art, has following beneficial effect:

1. the ball is served by the ball hitting part in a hitting mode, compared with a double-roller rotary extrusion ejection mode and a ball throwing mode, the effect of hitting a ball body through a racket, a bat or a swinging limb in real sports is more similar, meanwhile, the rotary driving structure is arranged to drive the ball hitting part to rotate, so that friction is formed between the ball hitting part and the surface of the ball body when the ball body is hit, the ball body forms a spin after ejection, and the ball receiving and serving training of spin can be carried out on a training person;

2. the ball hitting part is driven to move in a rotating mode, so that the structure of the hitting driving component and the rotating driving structure can be simplified;

3. the installation base piece is coaxially arranged with the driving wheel and is connected with the driven wheel installed on the installation base piece through the transmission belt, when the installation base piece drives the driven wheel to revolve, the driving wheel drives the driven wheel to automatically transmit through the transmission belt, no influence is caused, and the whole operation structure is stable;

4. the driving wheel is driven by the motor, the rotating speed of the driven wheel can be adjusted by controlling the rotating speed of the motor, and the rotating speed of the ball after hitting can be adjusted to adapt to different training requirements;

5. the hitting component provides hitting power through the elastic part, firstly stores energy for the elastic part, releases the energy instantly after the energy storage is completed, can simulate the power generation state when a user swings a bat, a bat or a limb in real motion, and finally forms a better simulation effect after hitting the ball;

6. the elastic component can be a compression elastic device or a stretching elastic device; the utility model adopts the stretching elastic device, compared with the compression elastic device, the structure is simpler and more stable, the direction of the tension force is always consistent with the extending direction of the stretching elastic device, and no additional guide mechanism is needed;

7. the ball control valve assembly can control the balls to enter the ball hitting stations one by one; through the first gate and the second gate which are linked with each other, firstly, the spheres can enter the temporary storage station by opening the first gate and closing the second gate, then the spheres in the temporary storage station enter the ball hitting station by closing the first gate and opening the second gate, and meanwhile, the spheres in the ball storage station are prevented from entering the temporary storage station, so that one ball is released to the ball hitting station each time;

8. through ball control valve subassembly and the linkage of drive disk assembly, drive ball control valve subassembly and drive disk assembly simultaneously through a driving motor to realize hitting the ball every time and correspond a ball of putting, after the adjustment driving motor rotational speed, batting frequency and the synchronous adjustment of ball frequency of putting need not other extra drive original paper and control program, and mechanical linkage structure is reliable stable.

Drawings

Fig. 1 is a schematic structural view of an embodiment of the pitching machine of the present invention.

Fig. 2 is another angle view of fig. 1.

Fig. 3 is a schematic view of a state of the pitching machine.

Fig. 4 is a view taken along direction a of fig. 3.

Fig. 5 is a view from direction B of fig. 4.

Fig. 6 is a schematic diagram of a state two of the pitching machine.

Fig. 7 is another angle view of fig. 6.

Fig. 8 is a state diagram of the pitching machine.

Fig. 9 is another angle view of fig. 8.

Fig. 10 is a state diagram of the pitching machine.

Fig. 11 is another angle view of fig. 10.

Fig. 12 is a schematic diagram of another embodiment of the pitching machine according to the present invention.

Fig. 13 is a schematic diagram of another embodiment of the pitching machine according to the present invention.

Fig. 14 is another angle view of fig. 1.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

The utility model discloses a pitching machine, include the frame, hit the subassembly, hit and beat drive assembly and rotation driving structure. The hitting assembly is used for hitting a ball body so as to enable the ball body to be shot out under the impact, and comprises a mounting base part and a ball hitting piece, wherein the ball hitting piece is mounted on the mounting base part. The striking driving component is used for driving the mounting base member to act so as to enable the ball hitting part to move towards the direction close to the ball hitting station and hit a ball body located on the ball hitting station. The rotary driving structure is used for driving the ball hitting part to rotate so as to enable the ball hitting part to form friction with the surface of the ball when the ball is hit.

As shown in fig. 1 and 2, in one embodiment, the frame includes a base 11, a left side plate 12 and a right side plate 13 disposed on the base 11 in parallel, and a funnel 14 disposed at an upper end of the left side plate 12 and the right side plate 13.

A ball sending channel is formed below the hopper 14, the terminal end of the ball sending channel is a ball hitting station, and balls in the hopper 14 can finally fall to the ball hitting station along the ball sending channel. A front side plate 15 and a rear side plate 16 are provided between the left side plate 12 and the right side plate 13, and the ball 100 can be positioned by the left side plate 12, the right side plate 13, the front side plate 15, and the rear side plate 16. An L-shaped left side plate 17a and a L-shaped right side plate 17b are arranged below the rear side plate 16 and are respectively arranged on the left side plate 12 and the right side plate 13, wherein the vertical plates 171 of the left side plate 17a and the right side plate 17b are used for limiting the position of the ball 100, the horizontal plates 172 can support the ball 100, and the ball hitting part can enter the area between the left side plate 17a and the right side plate 17b for hitting. The horizontal plate 172 is inclined at a certain angle so that the angle between the horizontal plate 172 and the vertical plate 171 is limited by the tendency of the ball to roll in the direction of the vertical plate 171 after the ball falls on the horizontal plate 172.

The striking drive assembly comprises an elastic component, a power component and a transmission component. The power component is connected with the transmission component and used for driving the transmission component to act. The transmission component can apply force to the installation base piece and drive the installation base piece to act so as to enable the elastic component to store energy, and the first pressing part can be separated from the installation base piece when the installation base piece reaches a releasing station so as to release the elastic component.

In an embodiment of the present invention, as shown in fig. 3 to 5, the mounting base member 21 is in a shape of a crankshaft, and includes a shaft portion 211, a rotating arm 212 and a driving arm 213 connected to both ends of the shaft portion 211, a connecting rod 214 connected to the driving arm 213, and a mounting rod 215 connected to the rotating arm 212.

The power part comprises a main motor 31, the transmission part comprises a driving rope wheel 32 connected with the power output end of the main motor 31, a first driven rope wheel 34 and a second driven rope wheel 35 which are connected with the driving rope wheel 32 through a transmission rope 33, and a first pressing part 351 and a second pressing part 352 which are arranged on the second driven rope wheel 35, wherein the second driven rope wheel 35 is a rotating part and can drive the first pressing part 351 and the second pressing part 352 to rotate synchronously. The transmission rope 33 is guided by a plurality of guide wheels 36, the axis of the first driven rope wheel 34 is vertically arranged, and the axis of the second driven rope wheel is horizontally arranged. The first driven sheave 34 is connected to a stirring rod 341 inserted into the hopper 14 and connected to a stirring fin 342, and as shown in fig. 14, the stirring fin 342 is rotated by the driving of the main motor 31 to stir the balls in the hopper 14, so that the balls are smoothly dropped.

The shaft portion 211 of the mounting base member 21 is disposed coaxially with the second driven sheave 35. The first pressing part 351 is rod-shaped and is disposed on the outer side surface of the second driven sheave 35, and the first pressing part 351 can be rotated together when the second driven sheave 35 is rotated. The first pressing portion 351 can press the driving arm 213 of the mounting base member 21, and further, the driving arm 213 is pushed to rotate the mounting base member 21 as a whole.

In this embodiment, the elastic member is an elastic stretching device 37, which may be an elastic stretching spring or an elastic string, and one end of the elastic stretching device 37 is connected to the connecting rod 214, and the other end is connected to the right side plate 13. When the first pressing part 351 pushes the driving arm 213 to rotate the mounting base member 21, the connecting rod 214 rotates together to elongate the tension elastic device 37 for energy storage, and the mounting base member 21 receives the pressure of the first pressing part 351 and the tension of the tension elastic device 37 at the same time. When the mounting base member 21 is located at the releasing position, the axis of the tension elastic device 37 intersects with the axis of the second driven sheave 35, so that after the mounting base member 21 reaches the releasing position, the first pressing portion 351 does not apply a pressure to the driving arm 213 in a direction opposite to the pulling force of the tension elastic device 37, and therefore the driving arm 213 exceeds the first pressing portion 351 under the pulling force of the tension elastic device 37, so that the tension elastic device 37 can be rapidly contracted, and further, the connecting rod 214 is applied with a force and the mounting base member 21 is driven to rapidly rotate.

Meanwhile, the striking assembly further comprises a driven wheel 22 arranged on the mounting rod 215 of the mounting base member 21, the rotary driving structure comprises a driving wheel 41 coaxially arranged with the shaft portion 211, the driving wheel 41 is connected with the driven wheel 22 through a transmission belt 23, the driving wheel 41 is arranged at a power output end of a rotary driving motor 42, and the rotary driving motor 42 is arranged on the left side plate 12. The ball striking member may be the driven wheel 22 or the transmission belt 23. In this embodiment, the belt 23 is disposed in a groove of the driven wheel 22 and protrudes from a sidewall surface of the driven wheel 22, so that the belt 23 is a ball striking member when the ball is struck and the belt 23 is in contact with a surface of the ball. Since the driving belt 23 is driven by the driving wheel 41 to rotate at a high speed, relative friction is generated between the spherical surface 100 and the driving wheel 100 when the spherical surface 100 contacts with the driving wheel, so that the spherical body 100 is driven to rotate at the moment of hitting, and the spherical body 100 is shot outwards in a ball rotating manner after being hit. Of course, in other embodiments, the driving belt 23 may not contact the ball, but the driven wheel may contact the ball, and then the driven wheel becomes the ball striking member.

The pitching machine further comprises a ball feeding mechanism used for conveying the ball body to the ball hitting station. The ball feeding mechanism comprises the ball feeding channel and a ball control valve assembly positioned on the ball feeding channel. The ball control valve assembly comprises a first gate 51 and a second gate 52 which are sequentially arranged on a ball feeding channel along the ball conveying direction, the ball feeding channel is divided into three parts by the first gate 51 and the second gate 52, namely a ball storage station 200 positioned at the upstream, a temporary storage station 300 positioned at the midstream and a ball hitting station 400 positioned at the downstream, and the temporary storage station 300 is used for storing one ball 100. In this embodiment, the first gate 51 and the second gate 52 may be rod-shaped. By controlling the opening and closing time of the first gate 51 and the second gate 52, only one ball 100 in the temporary storage station 300 can be released to the downstream ball striking station 400 at a time.

In this embodiment, the ball control valve assembly further comprises a linkage rod 53 connecting the first gate 51 and the second gate 52, so that the first gate 51 and the second gate 52 are linked, and when one of the gates is opened, the other gate is closed. Meanwhile, the transmission member further includes a linkage structure connected to the ball control valve assembly, that is, the second pressing portion 352, the transmission member drives the ball control valve assembly to operate through the second pressing portion 352, and the second pressing portion 352 is also rod-shaped and is disposed inside the second driven sheave 35, that is, on the side opposite to the first pressing portion 351.

Specifically, the ball control valve assembly comprises a swing rod 54, the first gate 51, the second gate 52 and the linkage rod 53 are located at one end of the swing rod 54, and the other end of the swing rod 54 is mounted on a swing shaft 55; the linkage structure comprises the second pressing part 352, when the first pressing part 351 pushes the installation base part 21, the second pressing part 352 can push the swing link 54 to move, so that the second gate 52 is opened and the first gate 51 is closed; when the second pressing portion 352 rotates away from the swing link 54, the swing link 54 loses the acting force of the second pressing portion 352, so that the swing link 54 is reset under the action of the reset force, and the first gate 51 is opened and the second gate 52 is closed. The reset force may be the gravity of the swing link 54 itself, or may be an elastic force applied to the swing link 54 by an additionally provided reset force mechanism (e.g., a reset spring).

The pitching machine in this embodiment is in a state after completion of one shot as shown in fig. 3 to 5, and this state is also an initial state of the next shot. In this state, the swing arm 212 is substantially vertical, the ball striking station 400 is empty, the second gate 52 is closed, the first gate 51 is opened, and a ball 100 is stored in the temporary storage station 300.

As shown in fig. 6 and 7, as the second driven sheave 35 rotates, the first pressing portion 351 gradually approaches the driving arm 213 and drives the driving arm 213 to rotate the mounting base member 21 as a whole, and after the driven wheel 22 passes through the ball striking station 400, the second pressing portion 352 contacts the swing link 54 and pushes the swing link 54 to close the first gate 51 and open the second gate 52, so that the ball at the temporary storage station 300 falls into the ball striking station 400.

As shown in fig. 8 and 9, the second driven sheave 35 continues to rotate, the second pressing portion 352 starts to move away from the swing link 54, and the swing link 54 is reset by gravity, so that the first gate 51 is opened and the second gate 52 is closed. When the first pressing part 351 continues to poke the driving arm 213 to rotate the mounting base member 21 to the releasing position, the tension elastic device 37 intersects with the axis of the second driven sheave 35.

As shown in fig. 10 and 11, after the mounting base member 21 is rotated to the releasing station, the connecting rod 214 drives the mounting base member 21 to rotate fast as a whole under the pulling force of the elastic stretching device 37, so that the ball striking member impacts the ball at the ball striking station 400. After the ball is shot out, the pitching machine returns to the initial state again, and the next period of batting action is started.

Of course, in addition to the above embodiments, the striking element may perform a periodic striking motion in a reciprocating manner, for example, as shown in fig. 12, in another embodiment of the present invention, the elastic member is a compression spring 91, the striking element is a striking roller 92, and the mounting base member 21 is a bracket 93 having one end connected to the compression spring 91 and the other end connected to the striking roller 92. The transmission part includes a cam 94, be provided with breach portion 941 on the cam 94, thereby cam 94 pushes up on support 93 and can drive support 93 along with cam 94's rotation and remove the compression spring 91, when support 93 removed to the release station, just support 93 got into in breach portion 941, thereby makes support 93 lose the pressure of cam 94 and thus compression spring 91 promotes support 93 and accelerates in the twinkling of an eye, and batting roller 92 hits the spheroid fast. On the running track of the striking roller 92, a friction member 95 for providing friction to the striking roller 92 is further provided, so that the striking roller 92 is rotated at a high speed when moving forward at a high speed, and can form friction with the surface of the ball when striking a ball.

As shown in fig. 13, in another embodiment of the present invention, another way to rotate the striking roller 92 is provided, that is, a rotating disc 97 driven by a rotating motor 96 is provided on one side of the running track of the striking roller 92, a magnetic member is provided on the rotating disc 97, a magnetic member 98 is also provided at the end of the striking roller 92, and the striking roller 92 can be driven to rotate by the rotation of the rotating disc 97.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims

1. A ball serving machine, comprising:

2. The pitching machine of claim 1, wherein: the mounting base member comprises a shaft portion, the striking driving assembly can drive the mounting base member to rotate around the shaft portion, and the striking station is located on the motion track of the striking piece.

3. The pitching machine of claim 2, wherein: the beating assembly further comprises a driven wheel arranged on the mounting base piece, the rotary driving structure comprises a driving wheel coaxially arranged with the shaft portion, and the driving wheel is connected with the driven wheel through a transmission belt; the ball hitting piece is the driven wheel or the transmission belt.

4. The pitching machine of any of claims 1 to 3, wherein: the striking driving assembly comprises an elastic part, a power part and a transmission part, the mounting base part is connected with the elastic part, and the power part is connected with the transmission part and used for driving the transmission part to act; the transmission component comprises a first pressing part; the first pressing part can apply force to the mounting base piece and drive the mounting base piece to act so as to enable the elastic component to accumulate energy, and when the mounting base piece reaches the releasing station, the first pressing part can be separated from the mounting base piece so as to release the elastic component.

5. The pitching machine of claim 4, wherein: the elastic component comprises an elastic stretching device, and one end of the elastic stretching device is connected to the mounting base piece and is used for applying tension to the mounting base piece; the transmission member further includes a rotating portion provided coaxially with the shaft portion of the mounting base member; the first pressing part is arranged on the rotating part and used for shifting the mounting base piece to rotate; the tension spring means intersects the axis of the rotating portion when the mounting base member is at the release station.

6. The pitching machine of any of claims 1 to 3, wherein: the pitching machine also comprises a ball feeding mechanism used for conveying balls to the ball hitting station; the ball feeding mechanism comprises a ball feeding channel and a ball control valve assembly positioned on the ball feeding channel.

7. The pitching machine of claim 6, wherein: the ball control valve assembly comprises a first gate and a second gate which are sequentially arranged on a ball feeding channel along the conveying direction of a ball body, the ball feeding channel is divided into three parts by the first gate and the second gate, namely a ball storage station positioned at the upstream, a temporary storage station positioned at the midstream and a ball hitting station positioned at the downstream, and the temporary storage station is used for storing one ball body.

8. The pitching machine of claim 7, wherein: the ball control valve assembly further comprises a linkage rod for connecting the first gate and the second gate, so that the first gate and the second gate are linked, and when one gate is opened, the other gate is closed.

9. The pitching machine of claim 8, wherein: the striking driving assembly comprises a transmission part, the transmission part comprises a linkage structure connected with the ball control valve assembly, and the transmission part drives the ball control valve assembly to act through the linkage structure.

10. The pitching machine of claim 9, wherein: the ball control valve assembly comprises a swing rod, the first gate, the second gate and the linkage rod are positioned at one end of the swing rod, and the other end of the swing rod is arranged on a swing shaft; the linkage structure comprises a second pressure applying part, and the second pressure applying part is arranged on the rotating part so as to open the second gate and close the first gate; when the second pressing part rotates away from the swing rod, the swing rod resets under the action of a reset force, so that the first gate is opened and the second gate is closed.