CN2822708Y - Manipulator used for servicing machine of badminton - Google Patents
Manipulator used for servicing machine of badminton Download PDFInfo
- Publication number
- CN2822708Y CN2822708Y CN 200520110655 CN200520110655U CN2822708Y CN 2822708 Y CN2822708 Y CN 2822708Y CN 200520110655 CN200520110655 CN 200520110655 CN 200520110655 U CN200520110655 U CN 200520110655U CN 2822708 Y CN2822708 Y CN 2822708Y
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- badminton
- push rod
- manipulator
- service robot
- utility
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Abstract
The utility model relates to a manipulator used for badminton servicing machines, which belongs to the field of sports apparatus. The utility model comprises a badminton grabbing mechanism and a drive mechanism matched with a badminton transmitting pipeline of the badminton servicing machine. The utility model is characterized in that the badminton grabbing mechanism is a pair of symmetrical movable handle pincers with a jaw in a circular arc shape; the pincers are positioned at a preposition driving section in the front of the drive mechanism and is connected with a drive mechanism on a base; the drive mechanism is arranged on the base and comprises a movable push rod with an orienting push rod; the rear section of the push rod is provided with a return spring fixed on the base; the spring is connected with an electromagnet arranged in a joint sleeve of a motor shaft. The utility model can make the badminton servicing machine control actions of separation and transmission of a ready badminton precisely and transmit the badminton to the appropriate batter's box continuously, quickly and effectively, the consistency of postures of conveying badminton is ensured and the badminton is serviced as required.
Description
Technical field
The utility model belongs to the sports apparatus field, specially refers to a kind of manipulator that is used for badminton service robot in athletic training.
Background technology
In the plant equipment field, the utilization of manipulator is very general, and it can replace artificial many operations, but is applied to sports apparatus, ball game aspect, and the manipulator in the particularly badminton project is not also seen the report that similar products come out.Because the shape of shuttlecock is not simple spherical structure, but the structure of very special wedged cone shaped band feather, and owing to stack the partly very easy formation adhesion of the bulb of shuttlecock, so separate relatively difficulty one by one.Simultaneously,, make the shuttlecock drop point, the track that send that good uniformity be arranged, must do accurate control in flashy position of batting and attitude shuttlecock in order under very high success rate, to launch shuttlecock continuously.For this reason, our company has developed the mechanical mechanism that the spheroid that is used for badminton service robot separates, grasps and carry, and claims that this mechanism is the manipulator of service robot, effectively shuttlecock is separated one by one by this manipulator, traps the puck to deliver to appointed positions and go to send.With servo-controlled method control manipulator, tranmitting frequency, route, track are regulated and control, according to the mode independent assortment service that people need, train or exercise for the user.
Summary of the invention
The utility model technical issues that need to address are not easily separated and weak points such as the control of shuttlecock attitude is inaccurate, service efficient is low, of poor quality of adhesion between the ball that causes for the special shape that fundamentally solves because of shuttlecock and the ball.In order to make badminton service robot have very high service efficient and service quality, need a kind of brand-new mechanical mechanism of design, realize continuously, high-frequency, high-speed shuttlecock carry, and can accurately control course of conveying.The purpose of this utility model just provides a kind of manipulator that is used for badminton service robot, realizes separation, extracting and the conveying of high efficiency, high-quality shuttlecock.Technical scheme that the utility model adopts is as follows: a kind of manipulator that is used for badminton service robot, comprise with badminton service robot loses that pipeline organically combines and grab ball mechanism and driving mechanism thereof, it is characterized in that, describedly grab the movable handle pliers that has the circular arc jaw that ball mechanism is a pair of symmetry, this pliers is connected to the pre-driver section that is positioned at before the driving mechanism, and is connected with driving mechanism on the pedestal; Described driving mechanism, it is installed on the pedestal, comprises that push rod, a push rod back segment that movably has directed guide rail is with one section back-moving spring that is fixed on the pedestal, and this spring is connecting a DM that places the motor shaft adapter sleeve.
After motor shaft rotates to assigned address, electromagnet energising work, the electromagnetism the suction-combining force overcomes spring force compression spring, promote push rod and do positive movement forward, the pre-driver section of passing through to be connected simultaneously affacts the movable handle pliers of manipulator, enlarge the opening width of jaw, decontrol the shuttlecock that grasps and make its movement of falling object; When the electromagnet no power, the elastic force of back-moving spring promotes push rod and does reverse movement backward, affacts the movable handle pliers of manipulator by the pre-driver section that connects simultaneously, dwindles the opening width of jaw, grasps the shuttlecock of sending out in the carrier pipe.The structure of described pre-driver section can be selected the crank-linkage type structure of push rod driving or the sine mechanism that push rod drives for use.
When driving mechanism was the crank-linkage type structure of push rod driving, it is shaped as concrete push rod had the pitman shaft of subtended angle to be connected with two, and the open end of its connecting rod is connected at an end of handle with two movable handle pliers respectively.
When driving section for the sine mechanism of push rod driving, its driving push rod one end that is shaped as guiding is provided with the horizontal sliding shoe perpendicular to the pushrod movement direction when preposition, and movable handle pliers connects guide rail at an end of handle respectively by sliding shoe.
In order to make manipulator in the moment of grasping shuttlecock, can the separation of single shuttlecock will be carried out more easily in the shuttlecock that overlap, be provided with the outstanding step of one deck at the arc vice jaw place of pliers part, effectively raise separative efficiency and grasp success rate.
The beneficial effects of the utility model are, by SERVO CONTROL and this manipulator mechanism, badminton service robot can be controlled accurately wait to send out the separation of shuttlecock and carry action, continuously, at a high speed, high efficiency shuttlecock is transported to suitable batter's box, guarantee the uniformity of the shuttlecock attitude of carrying, serve a ball by launch requirements.
Description of drawings
The crank-linkage type construction machine hand structural representation that Fig. 1 drives for push rod
Fig. 2 a is the sine mechanism robot manipulator structure schematic diagram that push rod drives
Fig. 2 b is that above-mentioned sine mechanism removes the schematic diagram that the top cover plate shows inside
Fig. 3 is for having the outstanding step schematic diagram of one deck on the binding clip
The specific embodiment
With reference to Fig. 1, the driving mechanism of representing a kind of mechanical catch ball machinery of badminton service robot is the schematic diagram of brace and connecting rod framework, among the figure, 1 is the circular arc jaw of a pair of symmetry, jaw and movable handle are a pliers integral body 2, this activity handle is two symmetrical structures of placing side by side, movable handle pliers rear end is connecting pre-driver section 3, this pre-driver section has two kinds of forms, a kind of is the crank-linkage type structure 3 ' that push rod drives, with the push rod end is axle two connecting rods at an angle, promptly represents in Fig. 1; Another kind is the sine mechanism 3 that push rod drives ", be provided with perpendicular to the horizontal sliding shoe of pushrod movement direction and in Fig. 2 a, represent; Among two figure, pre-driver section 3 ' or 3 " all pass through directed guide rail 4 and link to each other with push rod 6; be pedestal 5 below them; push rod 6 be provided with one section with the fixing back-moving spring 7 of pedestal 5; other end of spring is connected to push rod; pedestal is connected to motor by motor shaft adapter sleeve 8, and electromagnet 9 magnetic cores pass the motor shaft adapter sleeve and are connected with push rod.
Fig. 2 a represents that driving mechanism is the sine mechanism 3 that push rod drives " connection diagram, Fig. 2 b is the schematic diagram after in order to see internal structure clearly the cover plate of sine mechanism being taken away.
With reference to Fig. 3, expression has the schematic diagram of the outstanding step of one deck on the jaw, and thin step is 1 ', the extracting that this structure is more conducive to shuttlecock with separate.
Claims (4)
1. the manipulator that is used for badminton service robot, comprise with badminton service robot lose pipeline grab ball mechanism and driving mechanism is characterized in that, describedly grab the movable handle pliers that has the circular arc jaw that ball mechanism is a pair of symmetry, this pliers is connected to the pre-driver section that is positioned at before the driving mechanism, and is connected with driving mechanism on the pedestal; Described driving mechanism, it is installed on the pedestal, comprises a push rod that movably has directed guide rail, and this push rod back segment is with one section back-moving spring that is fixed on the pedestal, and this spring is connecting an electromagnet that places the motor shaft adapter sleeve.
2. the manipulator of badminton service robot according to claim 1, it is characterized in that, when described pre-driver section was the crank-linkage type structure of push rod driving, it is shaped as push rod had the pitman shaft of subtended angle to be connected with two, and the open end of its connecting rod is connected with an end of handle respectively.
3. the manipulator of badminton service robot according to claim 1, it is characterized in that, when described pre-driver section is the sine mechanism of push rod driving, its driving push rod one end that is shaped as guiding is provided with the horizontal sliding shoe perpendicular to the pushrod movement direction, and movable handle pliers connects guide rail at an end of handle respectively by sliding shoe.
4. the manipulator of badminton service robot according to claim 1 is characterized in that, is provided with the outstanding step of one deck at the arc binding clip place of pliers part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520110655 CN2822708Y (en) | 2005-06-24 | 2005-06-24 | Manipulator used for servicing machine of badminton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520110655 CN2822708Y (en) | 2005-06-24 | 2005-06-24 | Manipulator used for servicing machine of badminton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2822708Y true CN2822708Y (en) | 2006-10-04 |
Family
ID=37031819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520110655 Expired - Fee Related CN2822708Y (en) | 2005-06-24 | 2005-06-24 | Manipulator used for servicing machine of badminton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2822708Y (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102909541A (en) * | 2012-10-25 | 2013-02-06 | 山东丽鹏股份有限公司 | High-speed electromagnetic positioning device for sheets |
| CN103979305A (en) * | 2014-04-16 | 2014-08-13 | 宁国东方碾磨材料股份有限公司 | Cover plate gripping device |
| CN105083994A (en) * | 2015-08-21 | 2015-11-25 | 安徽省无为县正大羽毛制品有限责任公司 | Grabbing device of shuttlecock detecting machine |
| CN106039680A (en) * | 2016-07-28 | 2016-10-26 | 冯艾凝 | Repeating crossbow table tennis ball launcher |
| CN106768780A (en) * | 2017-01-03 | 2017-05-31 | 京东方科技集团股份有限公司 | Bead drop test device |
| CN106799033A (en) * | 2017-03-09 | 2017-06-06 | 武汉科技大学 | Portable badminton service robot device people |
| CN107378934A (en) * | 2017-08-22 | 2017-11-24 | 江苏鲁汶仪器有限公司 | Manipulator electromagnetic lifter structure |
| CN109692461A (en) * | 2018-12-30 | 2019-04-30 | 郑州职业技术学院 | Physical education equipment |
| CZ308242B6 (en) * | 2018-10-09 | 2020-03-18 | Jan VorlĂk | Passing machine with badminton ball feed mechanism |
| CN110917602A (en) * | 2019-12-28 | 2020-03-27 | 缙云皮新电子科技有限公司 | Ball dispenser based on voice control |
-
2005
- 2005-06-24 CN CN 200520110655 patent/CN2822708Y/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102909541A (en) * | 2012-10-25 | 2013-02-06 | 山东丽鹏股份有限公司 | High-speed electromagnetic positioning device for sheets |
| CN102909541B (en) * | 2012-10-25 | 2014-11-26 | 山东丽鹏股份有限公司 | High-speed electromagnetic positioning device for sheets |
| CN103979305A (en) * | 2014-04-16 | 2014-08-13 | 宁国东方碾磨材料股份有限公司 | Cover plate gripping device |
| CN105083994A (en) * | 2015-08-21 | 2015-11-25 | 安徽省无为县正大羽毛制品有限责任公司 | Grabbing device of shuttlecock detecting machine |
| CN106039680A (en) * | 2016-07-28 | 2016-10-26 | 冯艾凝 | Repeating crossbow table tennis ball launcher |
| CN106768780A (en) * | 2017-01-03 | 2017-05-31 | 京东方科技集团股份有限公司 | Bead drop test device |
| CN106799033A (en) * | 2017-03-09 | 2017-06-06 | 武汉科技大学 | Portable badminton service robot device people |
| CN107378934A (en) * | 2017-08-22 | 2017-11-24 | 江苏鲁汶仪器有限公司 | Manipulator electromagnetic lifter structure |
| CZ308242B6 (en) * | 2018-10-09 | 2020-03-18 | Jan VorlĂk | Passing machine with badminton ball feed mechanism |
| CN109692461A (en) * | 2018-12-30 | 2019-04-30 | 郑州职业技术学院 | Physical education equipment |
| CN109692461B (en) * | 2018-12-30 | 2020-07-14 | 郑州职业技术学院 | Physical education teaching equipment |
| CN110917602A (en) * | 2019-12-28 | 2020-03-27 | 缙云皮新电子科技有限公司 | Ball dispenser based on voice control |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20061004 Termination date: 20110624 |