CN109833617B - Intelligent table tennis service robot - Google Patents
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- CN109833617B CN109833617B CN201910078640.7A CN201910078640A CN109833617B CN 109833617 B CN109833617 B CN 109833617B CN 201910078640 A CN201910078640 A CN 201910078640A CN 109833617 B CN109833617 B CN 109833617B
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Abstract
The invention discloses an intelligent table tennis serving machine which comprises a serving machine head capable of rotating around a Y axis, wherein a serving wheel and a motor for driving the serving wheel to rotate are arranged at the front end of the serving machine head, a balancing weight is arranged at the rear end of the serving machine head, and the center of gravity of the serving machine head and the rotating center line of the Y axis are positioned in the same vertical plane. Under the action of the balancing weight, the gravity center of the head of the whole ball serving machine is readjusted, so that the gravity center of the head of the ball serving machine and the rotating center line of the Y axis are positioned in the same vertical plane, the fact that resistance required to be overcome by a driving motor of the head of the ball serving machine is consistent when the head of the ball serving machine rotates forwards and backwards around the Y axis is ensured, and the service life of the motor is prolonged; on the other hand, the rotating speed of the head of the pitching machine rotating around the Y axis in the positive direction and the reverse direction is ensured to be consistent as much as possible, and good experience is brought to users.
Description
Technical Field
The invention relates to the technical field of sports equipment, in particular to an intelligent table tennis serving machine.
Background
In order to meet the requirement of table tennis trainers or entertainers on rotary balls, a pair of service wheels are generally arranged at the front end of the head of a table tennis service robot, and when a table tennis passes between the two service wheels, the rotary balls meeting the requirement can be manufactured at different rotating speeds of the service wheels.
Since the two serving wheels need to control the respective rotating speeds independently, two independent motors need to be provided for realizing the driving of the serving wheels. The two serving wheels and the two motors at the front end of the head of the pitching machine are heavy, so that the weight of the head of the pitching machine is unbalanced, and the center of gravity is located on the left side of the Y-shaped rotating shaft. Because the front end of the head of the pitching machine is heavy, when the pitching machine rotates around the Y rotating shaft in the positive direction, the gravity of the pitching machine assists the pitching machine to rotate around the Y rotating shaft in the positive direction, and the load of the motor is further reduced; when the pitching machine rotates reversely around the Y rotating shaft, the gravity of the pitching machine per se prevents the pitching machine from rotating reversely around the Y rotating shaft, and then the load of the motor is increased. Therefore, the head of the pitching machine does not rotate around the Y-shaped rotating shaft in a positive and negative way, and the rotating speed of the positive rotation and the rotating speed of the negative rotation are inconsistent in the rotating process, so that bad experience is brought to a user. Meanwhile, the service life of the motor is influenced to a certain extent.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent table tennis serving machine with the center of gravity of the head of the serving machine positioned on a Y-shaped rotating shaft.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides an intelligence table tennis service robot, is including can winding Y axle pivoted service robot head, the front end of service robot head is equipped with service wheel and drive service wheel pivoted motor, its characterized in that: the rear end of the head of the ball serving machine is provided with a balancing weight, and the center of gravity of the head of the ball serving machine and the rotating center line of the Y axis are located in the same vertical plane.
Furthermore, a base is arranged below the head of the ball serving machine, and a net collecting mechanism is arranged at the rear end of the base.
Furthermore, the net collecting mechanism comprises transverse expansion brackets which are bilaterally symmetrically arranged at the rear end of the base, movable parts and fixed parts are arranged at two ends of each transverse expansion bracket, a guide rod connected to the rear end part of the base is arranged between the two transverse expansion brackets, an adjusting block which can reciprocate vertically is arranged on each guide rod, vertical support rods are connected to the far ends of the two transverse expansion brackets, the movable parts at the near ends of the two transverse expansion brackets are hinged to the adjusting blocks, the movable parts at the far ends of the two transverse expansion brackets are slidably connected with the vertical support rods, and the fixed parts of the two transverse expansion brackets are respectively hinged to the guide rods and the vertical support rods;
the adjusting block moves up and down, so that the movable part of the transverse telescopic frame is driven to move up and down, and transverse telescopic of the transverse telescopic frame is realized.
Furthermore, the transverse expansion bracket comprises a first hinge and a second hinge, wherein the first hinge and the second hinge are formed by hinging a plurality of hinged rods end to end, and each hinged rod on the first hinge is hinged with the corresponding hinged rod on the second hinge in the middle.
Furthermore, the guide rod is a U-shaped rod, the U-shaped rod is fixed at the rear end part of the base in an inverted mode, and sliding holes for inserting the opening ends of the U-shaped rod are formed in the two end parts of the adjusting block.
Furthermore, the top of the vertical stay bar is connected with a bent bar.
Furthermore, the bent rod is connected with the vertical support rod through a hinge structure, the hinge structure comprises an upper rod sleeve and a lower rod sleeve, the upper rod sleeve is arranged at the lower end part of the bent rod, the lower rod sleeve is arranged at the upper end part of the vertical support rod, the upper rod sleeve and the lower rod sleeve are mutually hinged at the outer side part of the upper rod sleeve and can turn over in a vertical plane, positioning columns are arranged on the front end faces of the upper rod sleeve and the lower rod sleeve, and a stretching spring is connected between the positioning columns.
Further, the service robot head includes the casing, be equipped with the maintenance hole that is located directly over serving wheel top on the casing, the aperture in maintenance hole is greater than the diameter of serving wheel, the maintenance hole disposes the serving wheel lid with serving wheel and external isolation.
Furthermore, a circle of counting teeth are uniformly distributed on the periphery of the side part of the pitching wheel at intervals, an infrared correlation sensor is arranged above the counting teeth, and the infrared correlation sensor and the motor are connected with the MCU.
Furthermore, the head of the ball serving machine is provided with a limit switch, the head of the ball serving machine comprises a first rotating part which can rotate around a Y axis and a Z axis, the first rotating part is connected with a second rotating part which can rotate around the X axis, a T-shaped support is arranged in the first rotating part, the first rotating part is rotatably connected with the transverse part of the T-shaped support, the bottom of the first rotating part is provided with a base, the vertical part of the T-shaped support is rotatably connected with the base, the limit switch comprises a first limit switch, a second limit switch and a third limit switch, the first limit switch is fixedly arranged on the first rotating part, the end face of the second rotating part is provided with a section of arc-shaped groove which surrounds the X axis, the first limit switch extends into the arc-shaped groove, the second limit switch is fixed on the transverse part of the T-shaped support, the first rotating part is provided with two first stop blocks which are configured with the second limit switch, the third limit switch is fixed on the base, and two second stop blocks configured with the third limit switch are arranged at the vertical part of the T-shaped support.
Has the advantages that: under the action of the balancing weight, the gravity center of the head of the whole pitching machine is readjusted, so that the gravity center of the head of the pitching machine and the rotating center line of the Y axis are positioned in the same vertical plane, the resistance required to be overcome by a driving motor of the pitching machine is ensured to be consistent when the head of the pitching machine rotates forwards or backwards around the Y axis, and the service life of the driving motor is prolonged; on the other hand, the rotating speed of the head of the pitching machine rotating around the Y axis in the positive direction and the reverse direction is ensured to be consistent as much as possible, and good experience is brought to users.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a schematic cross-sectional view of an intelligent table tennis batting machine according to an embodiment of the invention;
FIG. 2 is a schematic view of the assembly of a service wheel cover and a housing in an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a system for controlling the rotational speed of a serving wheel according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of the integration of the net collecting mechanism and the table tennis serving machine in the embodiment of the invention;
FIG. 5 is a schematic view of the folding state of the net collecting mechanism in the embodiment of the present invention;
FIG. 6 is a schematic view of the net retracting mechanism in an expanded state according to an embodiment of the present invention;
FIG. 7 is a schematic view of the installation position of the first limit switch according to the embodiment of the present invention;
FIG. 8 is a schematic view of the installation position of a second limit switch in the embodiment of the present invention;
FIG. 9 is a schematic view of the installation position of a third limit switch in the embodiment of the present invention;
fig. 10 is a schematic diagram of the layout of the electric wires in the head of the ball dispenser in the embodiment of the invention.
Detailed Description
Referring to fig. 1 to 10, the intelligent table tennis serving machine of the present invention comprises a serving machine head 1 capable of rotating around a Y axis, wherein a serving wheel 2 and a motor 3 for driving the serving wheel 2 to rotate are arranged at the front end of the serving machine head 1, wherein the serving wheel 2 comprises an upper serving wheel and a lower serving wheel, and the motor 3 and the serving wheel 2 are coaxially arranged for driving the serving wheel 2 to rotate. The rear end of the ball serving machine head part 1 is provided with a balancing weight 4, and under the balance of the balancing weight 4, the gravity center of the ball serving machine head part 1 and the rotation center line 5 of the Y axis are positioned in the same vertical plane. As shown in fig. 1, the rotation center line 5 of the Y-axis is perpendicular to the cross section. Preferably, the weight and position of the weight 4 are adjusted so that the center of gravity of the ball dispenser head 1 falls on the rotation center line 5 of the Y-axis.
Compared with most table tennis serving machines with the center of gravity of the serving machine head 1 positioned at the front end, the center of gravity of the whole serving machine head 1 is readjusted through the balancing weight 4, so that the center of gravity and the rotating center line 5 of the Y axis are positioned in the same vertical plane, the resistance required to be overcome by a driving motor of the serving machine head 1 is ensured to be consistent when the serving machine head 1 rotates forwards and backwards around the Y axis, and the service life of the driving motor is prolonged; on the other hand, the rotating speed of the pitching machine head 1 rotating around the Y axis in the positive direction and the reverse direction is ensured to be consistent as much as possible, and good experience is brought to users.
Preferably, the service robot head 1 comprises a housing 11, the housing 11 is provided with a maintenance hole 12 located right above the top of the service wheel 2, the diameter of the maintenance hole 12 is larger than the diameter of the service wheel 2, and the service wheel cover 3 for isolating the service wheel 2 from the outside of the housing 11 is arranged at the maintenance hole 12. The surface of the pitching wheel 2 is soft rubber, so that the pitching wheel belongs to a loss type fitting, is exposed and is easy to age, and further the loss is accelerated; and the elasticity is lost after long-term use, and the friction force is weakened, so that the effect of serving is greatly reduced. This structural design is convenient for take out service wheel 2 smoothly, realizes service and the change of service wheel 2. When the service wheel 2 needs to be maintained and replaced, the service wheel cover 3 is only required to be opened, then the service wheel 2 is taken out of the maintenance hole 12 after being disassembled, and then the service wheel 2 after being maintained or newly replaced is placed into the shell 11 through the maintenance hole 12 for fixed installation, so that the maintenance and replacement of the service wheel 2 are completed. In the whole maintenance and replacement process, the shell 11 of the head part 1 of the whole pitching machine does not need to be opened, and the workload of disassembly and assembly is greatly reduced. Meanwhile, a large number of parts are prevented from being exposed when only the service wheel 2 needs to be replaced, and other adverse effects such as dust pollution to other parts when the service wheel 2 is replaced are avoided.
Specifically, the maintenance hole 12 is designed to be a circular hole matched with the serving wheel 2, and the maintenance hole 12 and the circle projected by the serving wheel 2 on the same vertical plane are concentric circles, so that the mounting and dismounting operations of the serving wheel 2 are convenient to realize. The periphery of the maintenance hole 12 is symmetrically provided with a pair of concave gaps, and the serving wheel cover 3 is formed at the bottom thereof and comprises an abutting ring which is abutted around the edge of the maintenance hole 12 and a pair of convex blocks which pass through the concave gaps. The abutting ring abuts against the outer edge of the maintenance hole 12, and the lug is connected to the lower part of the abutting ring and abuts against the inner side of the maintenance hole 12 by bypassing the edge of the maintenance hole 12. Meanwhile, the top edge of the serving wheel cover 3 is symmetrically provided with clamping parts. When the serving wheel cap 3 needs to be tightly covered, the convex block is only required to be aligned with the concave gap, and the serving wheel cap 3 is pressed, so that the abutting ring abuts against the outer edge of the maintenance hole 12. At this time, the convex block passes through the concave notch, then the force is applied through the clamping part, and the serving wheel cover 3 is rotated, so that the convex block is abutted against the inner side edge of the maintenance hole 12, and the fixed installation of the serving wheel cover 3 is realized. When the serving wheel cover 3 needs to be detached, the serving wheel cover 3 only needs to be rotated reversely until the convex block rotates to the concave notch, and then the serving wheel cover 3 is taken away.
Preferably, a circle of counting teeth 21 are uniformly distributed on the periphery of the side part of the service wheel 2 at intervals, an infrared correlation sensor 22 is arranged above the counting teeth 21, and the infrared correlation sensor 22 and the motor 3 are connected with an MCU (microprogrammed control Unit) to form a service wheel rotating speed control system. Because the service frequency of the table tennis service robot is fast, when the service wheel 2 is required to realize sudden stop and reverse rotation in a short time, the service wheel 2 is subjected to inertia, so that when the motor 3 connected with the service wheel 2 executes the next set rotating speed, the real rotating speed has a large error with the set rotating speed, and the expected training effect cannot be achieved. Therefore, the rotation speed control of the service wheel 2 is realized by designing the service wheel rotation speed control system.
Specifically, the bottom of the infrared correlation sensor 22 is provided with a concave groove, and the top of the counting teeth 21 extends into the concave groove. The ball serving wheel 2 rotates, the counting teeth 21 continuously pass through the concave groove, and the infrared correlation sensor 22 accurately counts the passing number of the counting teeth 21. The counting teeth 21 counted by the infrared correlation sensor 22 are fed back to the MCU through the number, the counting teeth 21 are converted into the real rotating speed of the service wheel 2 through the information of the number under the processing of the MCU, then the real rotating speed of the service wheel 2 is compared with the preset rotating speed in the system, if the rotating speed is too large or too small, the control of the rotating speed of the motor 3 is realized through the MCU, and the purpose of compensating the rotating speed of the service wheel 2 is further achieved. The system can realize the accurate control of the rotating speed of the pitching wheel 2, improve the running precision of the whole machine and achieve the expected training effect.
Meanwhile, a base 7 is arranged below the head part 1 of the ball serving machine and can rotate around the base 7, and a net collecting mechanism 6 is arranged at the rear end of the base 7. The net collecting mechanism 6 comprises transverse telescopic frames 61 which are bilaterally symmetrically arranged at the rear end of a base 7, movable parts and fixed parts are arranged at two ends of each transverse telescopic frame 61, a guide rod connected to the rear end part of the base 7 is arranged between the two transverse telescopic frames 61, an adjusting block 63 which can reciprocate vertically is arranged on the guide rod, vertical support rods 64 are connected to far ends of the two transverse telescopic frames 61, the movable parts located at the near ends of the two transverse telescopic frames 61 are hinged to the adjusting blocks 63, the movable parts located at the far ends of the two transverse telescopic frames 61 are connected with the vertical support rods 64 in a sliding mode, and the fixed parts of the two transverse telescopic frames 61 are hinged to the guide rods and the vertical support rods 64 respectively; the adjusting block 63 is moved up and down, so as to drive the movable part of the transverse telescopic frame 61 to move up and down, thereby realizing transverse telescopic of the transverse telescopic frame 61. The transverse telescopic frame 61 can be driven to realize transverse telescopic by moving the adjusting block 63 up and down, so that the purpose of storing and unfolding the net collecting mechanism 6 is achieved, and the operation is convenient and quick; when the transverse telescopic frame 61 is in a contraction state, the vertical support rod 64 is greatly close to the rear end part of the pitching machine, so that the overall size is reduced, and a good storage effect is achieved; meanwhile, the net collecting mechanism 6 and the table tennis service robot are designed into a whole, and the table tennis service robot is convenient to carry.
Preferably, the transverse expansion bracket 61 comprises a first hinge and a second hinge which are formed by a plurality of hinge rods hinged end to end, and each hinge rod on the first hinge is hinged with the corresponding hinge rod on the second hinge in the middle. The transverse telescopic frame 61 can realize large-degree telescopic, is stable and reliable, and simultaneously realizes the support of the ball collecting net. In the process of moving the adjusting block 63, the included angle between the hinged rods is changed, so that the distance between the starting end and the tail end of the first hinge and the distance between the starting end and the tail end of the second hinge are changed in a linkage manner, and then the transverse telescopic frame 61 can perform telescopic motion on one plane.
Specifically, in this embodiment, the first hinge and the second hinge are both formed by two hinge rods hinged end to end. The guide rod is a U-shaped rod 62, the U-shaped rod 62 is fixed at the rear end part of the table tennis serving machine in an inverted mode, two end parts of the adjusting block 63 are provided with sliding holes for inserting the opening end of the U-shaped rod 62, and the adjusting block 63 can slide up and down along the U-shaped rod 62. The both ends of first hinge articulate respectively in the bottom of guide bar and vertical vaulting pole 64, and the one end and the regulating block 63 of second hinge are articulated, and the other end and vertical vaulting pole 64 sliding connection. The adjusting block 63 is pulled upwards, and the transverse telescopic frame 61 is contracted to realize the folding of the net folding mechanism 6; the adjusting block 63 is pushed downwards, the transverse telescopic frame 61 extends, and the net collecting mechanism 6 is unfolded.
Meanwhile, the top of the vertical stay 64 is connected with a bent rod 65. In order to make the net collecting mechanism 6 have better ball collecting effect, the lower end part of the bent rod 65 is butted with the vertical stay 64, and the upper end part of the bent rod 65 bends to the middle part of the table and extends. The bent rod 65 is connected with the vertical stay rod 64 through a hinge structure, an upper rod sleeve 651 is arranged at the lower end part of the bent rod 65, a lower rod sleeve 641 is arranged at the upper end part of the vertical stay rod 64, the upper rod sleeve 651 and the lower rod sleeve 641 are hinged at the outer side part of the upper rod sleeve 651 and the lower rod sleeve 641, so that the upper rod sleeve 651 can turn over in a vertical plane, positioning columns 642 are arranged on the front end surfaces of the upper rod sleeve 651 and the lower rod sleeve 641, and an extension spring 66 is connected between the positioning columns 642. When the net collecting mechanism 6 needs to be stored, an external force is provided to turn over the upper rod sleeve 651, so that the outer side of the upper rod sleeve 651 is abutted to the outer side of the lower rod sleeve 641, the storage size of the whole net collecting mechanism 6 in height is effectively reduced, and the storage and the transportation are facilitated; the hooks at the two ends of the extension spring 66 are hooked on the positioning posts 642, and constantly provide a pulling force acting on the positioning posts 642, so that the vertical stay 64 and the bent rod 65 can be kept in a stable state both when the ends are butted and when the outer sides are butted. Meanwhile, the vertical supporting rods 64 are arranged to be L-shaped supporting rods, the transverse parts of the L-shaped supporting rods comprise first cross rods and second cross rods, the first cross rods and the second cross rods are connected through hinged structures, the second cross rods can be turned upwards, and the storage size of the whole net collecting mechanism can be further reduced.
Preferably, the ball serving machine head 1 is provided with a limit switch, the ball serving machine head 1 comprises a first rotating part and a second rotating part, the second rotating part is rotatably connected to the first rotating part, the first rotating part can rotate around the Y axis and the Z axis respectively, the second rotating part can rotate around the X axis, the limit switch comprises a first limit switch 81, a second limit switch 82 and a third limit switch 83, the first limit switch 81 is used for limiting the rotating angle range of the second rotating part rotating around the X axis, the second limit switch 82 is used for limiting the rotating angle range of the first rotating part rotating around the Y axis, and the third limit switch 83 is used for limiting the rotating angle range of the first rotating part rotating around the Z axis. When the table tennis ball serving machine normally operates, the serving machine head 1 of the table tennis ball serving machine rotates around an X axis, a Y axis and a Z axis within the limit rotation angle range. The pitching machine head 1 is liable to exceed its limit rotation angle range due to the cumulative rotation error that may exist during the rotation. When the head part 1 of the ball serving machine exceeds the limit rotation angle range, the first limit switch 81, the second limit switch 82 or the third limit switch 83 is triggered immediately, so that the head part 1 of the ball serving machine is controlled to stop rotating, and the condition that equipment is damaged due to the fact that the head part of the ball serving machine rotates over around an X axis, a Y axis or a Z axis can be effectively avoided.
Be equipped with T shape support in the first portion of rotating, first portion of rotating can rotate around the horizontal portion of T shape support, and the bottom of first portion of rotating is equipped with base 7, and the vertical portion and the base 7 of T shape support rotate to be connected. The base 7 realizes the support to whole service robot head 1, and the horizontal portion of T shape support is a pivot of passing first rotation portion middle part, and the vertical portion of T shape support is a hollow tube of rotation connection on base 7.
The second limit switch 82 is fixed to the transverse portion of the T-shaped bracket, the first rotating portion is provided with two first stop blocks, the first rotating portion rotates around the Y axis in a positive and negative mode, and the second limit switch 82 can be abutted to the two first stop blocks respectively. The limit rotation angles of the forward rotation and the reverse rotation of the first rotating portion around the Y shaft are the same, the second limit switch 82 is located in the middle of the two first stop blocks, when the first rotating portion rotates forward and reverse around the Y shaft to the limit rotation angle position of the first rotating portion, the two contact points located on the left side and the right side of the second limit switch 82 are respectively abutted to the first stop blocks, and the rotating position control of the second rotating portion around the Y shaft is achieved.
Preferably, the third limit switch 83 is fixed to the base 7, two second stoppers are provided on the vertical portion of the T-shaped bracket, the first rotating portion rotates forward and backward around the Z-axis, and the third limit switch 83 can abut against the two second stoppers, respectively. The limit rotation angles of the first rotating portion rotating around the Z axis in the forward and reverse directions are the same, the third limit switch 83 is located in the middle of the two second stoppers, and when the first rotating portion rotates around the Z axis in the forward and reverse directions to the limit rotation angle position, the two contact points located on the left side and the right side of the third limit switch 83 are respectively abutted to the second stoppers, so that the rotating position control of the second rotating portion around the Z axis is realized.
The central angle corresponding to the arc-shaped groove is equal to the maximum allowable rotation angle of the second rotating portion, the included angle formed by the two first stop blocks and the Y axis is equal to the maximum allowable rotation angle of the first rotating portion around the Y axis, and the included angle formed by the two second stop blocks and the Z axis is equal to the maximum allowable rotation angle of the first rotating portion around the Z axis.
The first limit switch 81, the second limit switch 82 and the third limit switch 83 are all electrically connected with the MCU, and the MCU is electrically connected with an alarm. First limit switch 81, second limit switch 82 and third limit switch 83 transmit the signal of telecommunication to MCU, and then MCU control and the motor stall of first rotation portion and second rotation portion being connected, MCU control siren emergence alarm simultaneously. When the service robot runs abnormally, an alarm is triggered so as to inform relevant workers to drive to process.
Meanwhile, as shown in fig. 10, the electric wires in the whole pitching machine head 1 are hidden in the shell 11, and include the power line of the motor and the communication line of the limit switch, and the electric wires are embedded in the shell 11, so that the attractiveness of the whole pitching machine is effectively guaranteed.
While the embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (6)
1. The utility model provides an intelligence table tennis service robot, is including can winding Y axle pivoted service robot head, the front end of service robot head is equipped with service wheel and drive service wheel pivoted motor, its characterized in that: the rear end of the head part of the ball serving machine is provided with a balancing weight, and the gravity center of the head part of the ball serving machine and the rotating center line of the Y axis are positioned in the same vertical plane; a base is arranged below the head of the ball serving machine, and a net collecting mechanism is arranged at the rear end of the base; the net collecting mechanism comprises transverse expansion brackets which are bilaterally and symmetrically arranged at the rear end of a base, movable parts and fixed parts are arranged at two ends of each transverse expansion bracket, a guide rod connected to the rear end part of the base is arranged between the two transverse expansion brackets, an adjusting block which can reciprocate vertically is arranged on each guide rod, the far ends of the two transverse expansion brackets are connected with vertical support rods, the movable parts at the near ends of the two transverse expansion brackets are hinged with the adjusting blocks, the movable parts at the far ends of the two transverse expansion brackets are connected with the vertical support rods in a sliding mode, and the fixed parts of the two transverse expansion brackets are respectively hinged with the guide rods and the vertical support rods; the adjusting block is moved up and down, so that the movable part of the transverse telescopic frame is driven to move up and down, and transverse telescopic of the transverse telescopic frame is realized; the top of the vertical support rod is connected with a bent rod; the connecting structure comprises an upper rod sleeve and a lower rod sleeve, the upper rod sleeve is arranged at the lower end of the bent rod, the lower rod sleeve is arranged at the upper end of the vertical supporting rod, the upper rod sleeve and the lower rod sleeve are hinged to each other at the outer side part of the upper rod sleeve and can turn over in a vertical plane, positioning columns are arranged on the front end faces of the upper rod sleeve and the lower rod sleeve, and extension springs are connected between the positioning columns.
2. The intelligent table tennis serving machine of claim 1, wherein: the transverse expansion bracket comprises a first hinge and a second hinge, wherein the first hinge and the second hinge are formed by hinging a plurality of hinge rods end to end, and each hinge rod on the first hinge is hinged with the corresponding hinge rod on the second hinge in the middle.
3. The intelligent table tennis serving machine of claim 1, wherein: the guide rod is a U-shaped rod, the U-shaped rod is fixed at the rear end part of the base in an inverted mode, and sliding holes for inserting the opening end of the U-shaped rod are formed in the two end parts of the adjusting block.
4. The intelligent table tennis serving machine of any one of claims 1-3, wherein: the service robot head includes the casing, be equipped with the maintenance hole that is located directly over serving wheel top on the casing, the aperture in maintenance hole is greater than the diameter of serving wheel, the maintenance hole disposes the serving wheel lid of serving wheel and external isolation.
5. The intelligent table tennis serving machine of any one of claims 1-3, wherein: a circle of counting teeth are uniformly distributed on the periphery of the side part of the pitching wheel at intervals, an infrared correlation sensor is arranged above the counting teeth, and the infrared correlation sensor and the motor are both connected with the MCU.
6. The intelligent table tennis serving machine of any one of claims 1-3, wherein: the pitching machine head is provided with a limit switch, the pitching machine head comprises a first rotating part which can rotate around a Y shaft and a Z shaft, the first rotating part is connected with a second rotating part which can rotate around an X shaft, a T-shaped support is arranged in the first rotating part, the first rotating part is rotatably connected with the transverse part of the T-shaped support, a base is arranged at the bottom of the first rotating part, the vertical part of the T-shaped support is rotatably connected with the base, the limit switch comprises a first limit switch, a second limit switch and a third limit switch, the first limit switch is fixedly arranged on the first rotating part, the end surface of the second rotating part is provided with a section of arc-shaped groove surrounding the X shaft, the first limit switch extends into the arc-shaped groove, the second limit switch is fixed on the transverse part of the T-shaped support, the first rotating part is provided with two first stop blocks configured with the second limit switch, the third limit switch is fixed on the base, and two second stop blocks configured with the third limit switch are arranged at the vertical part of the T-shaped support.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910078640.7A CN109833617B (en) | 2019-01-25 | 2019-01-25 | Intelligent table tennis service robot |
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| CN201910078640.7A CN109833617B (en) | 2019-01-25 | 2019-01-25 | Intelligent table tennis service robot |
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| CN109833617A CN109833617A (en) | 2019-06-04 |
| CN109833617B true CN109833617B (en) | 2021-08-31 |
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|---|---|---|---|---|
| JP5747040B2 (en) * | 2009-10-28 | 2015-07-08 | ニュージー インダストリーズ，インコーポレイテッド | Table tennis robot and its operation method |
| CN203648014U (en) * | 2013-12-20 | 2014-06-18 | 黄澳祺 | Direction coding and positioning control device of pitching machine |
| EP3967376A1 (en) * | 2014-03-05 | 2022-03-16 | Newgy Industries, Inc. | Table tennis robot with improved serving head movement |
| CN109248429B (en) * | 2018-11-23 | 2020-07-10 | 武汉理工大学 | Table tennis service robot |
| CN209885188U (en) * | 2019-01-25 | 2020-01-03 | 里德股份有限公司 | Intelligent table tennis service robot |
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2019
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