CN209075989U - Serving mechanism and intelligent badminton service device with the serving mechanism - Google Patents

Abstract

The utility model relates to Motion Technology fields, provide a kind of serving mechanism and the intelligent badminton service device with the serving mechanism, and serving mechanism includes: serve a ball control unit and the power device to service control unit offer power；Control unit of serving a ball includes ball support, ball support is provided with driving ball support and receives shuttlecock and the horizontal ball support driving mechanism fallen vertically upward, ball support tail portion in service position is coaxial to be equipped with the elastic element that shuttlecock is struck out to ball support, elastic element connects the pressurizing unit that has elastic component far from ball support end, elastic element is equipped with towards ball support end by the spring discharge mechanism of the elastic element release of compression, and elastic element pressurizing unit is connected to power device.Intelligent badminton service device controls the volume weight of serving mechanism, so that it is more portable, it is easily assembled to.Spring performance issues shuttlecock from feather ball machine with arbitrary speed or angle, makes it possible various random practices.

Description

Serving mechanism and intelligent badminton service device with the serving mechanism

Technical field

The utility model relates to Motion Technology field, in particular to a kind of serving mechanism and the intelligence with the serving mechanism Badminton service device.

Background technique

It is well known that badminton launcher is used on athletic training already, allow player can be with using the machine Prolonged training, carrys out throwing ball without server.

Existing badminton service robot is usually to pass through high-speed rotating driven by rotating wheel belt, is sent out by belt rubbing shuttlecock Out.Such badminton service robot energy consumption is very big, and entire machine is bulky, and weight is not suitable for carrying movement.

In addition, traditional shuttle service robot has huge inertia, shuttlecock service mode due to being that belt pulley drives shuttlecock It is with low uncertainty, it is not smart enough.

Utility model content

The purpose of this utility model is to provide a kind of serving mechanism and the intelligent shuttlecock with the serving mechanism is served a ball Device, it is small in size, portable, low energy consumption.

In order to solve the above technical problems, the embodiments of the present invention provides a kind of serving mechanism comprising: service Control unit and to service control unit provide power power device；Control unit of serving a ball includes ball support, and ball support is provided with drive Dynamic ball support receives shuttlecock and the horizontal ball support driving mechanism fallen, the coaxial peace in ball support tail portion in service position vertically upward Equipped with the elastic element that shuttlecock is struck out to ball support, elastic element connects the pressurizing unit that has elastic component, bullet far from ball support end Property element be equipped with towards ball support end by the spring discharge mechanism of the elastic element of compression release, the connection of elastic element pressurizing unit In power device.

Compared with prior art, the utility model is effectively controlled the volume weight of serving mechanism, so that it is more portable, It is easily assembled to.Spring performance issues shuttlecock from feather ball machine with arbitrary speed or angle (in preset range), makes Various random practices are possibly realized.

Further, elastic element is spring, allows shuttlecock with arbitrary speed or angle (in preset range) from plumage It is issued in ball top machine, it is high that spring fires efficiency.

Further, elastic element pressurizing unit includes: bottom plate, ball support tail portion when being set in service position；Elasticity Compression element cylinder is set to serving mechanism mounting base and, elastic element compression cylinder parallel with elastic element extending direction Cylinder rod be connected to bottom plate, bottom plate is connected to spring far from ball support one end, and cylinder is connected to gas source component.Pass through elastic element Pressurizing unit can squeeze the elastic element of the composition such as spring, to allow spring to put aside energy, in order in spring trigger Control under from axis release spring, to fire the shuttlecock in ball support.

Further, spring discharge mechanism includes: the axis for being installed on axis mounting base, is provided with and passes through for elastic element Through-hole；It is set in axis and can have around the slide block B of central axis and push inclined surface；It is set in axis and matches with slide block B The sliding block A of conjunction is provided with the inclined surface with slide block B cooperation；It is installed on the trigger of axis, has and is located at sliding block A and axis Between trigger arm and be connected to trigger arm and the trigger head of axis port can be closed, trigger arm be provided with and sliding block A cooperate Inclined-plane；Drive driving assembly of the slide block B along axis clockwise or counterclockwise.

Further, ball support driving mechanism is ball support driving motor, which can drive ball support face to transmit Mechanism after the completion of receiving movement, can concede points and prop up down to receive, and hold in the palm the opening face bullet of tail portion to concede points Spring to wait release spring and shuttlecock is fired out ball support, and then completes what shuttlecock was served a ball from service robot service mouth Movement.

Further, power device includes: gas tank, is provided with pressure switch, and pressure switch is connected to control system；It inflates Machine is connected to gas tank.Gas tank can give service robot and provide gas source power, and that service robot can be allowed to obtain is lasting for pump Gas source supply, avoids gas tank from carrying out external complement high pressure gas and cause service robot operating interruptions.

Further, service control unit further include: bi-bit bi-pass air-operated solenoid valve, two-position five-way air-operated solenoid valve, two Two-way air-operated solenoid valve is connected to gas tank, and bi-bit bi-pass air-operated solenoid valve is connected to two-position five-way air-operated solenoid valve, two-position five-way Air-operated solenoid valve is connected to elastic element compression gas tank.

Further, further includes: for controlling the first stepper motor of service lateral angles, hair is connected to by axis connected device Ball machine structure mounting base；For controlling the second stepper motor of service regulation of longitudinal angle, spline, spline and hair are connected to by belt Ball machine structure mounting base is connected.

Further, ball support is the cone structure of tail portion opening.

A kind of intelligence badminton service device comprising previously mentioned serving mechanism.Since service robot controls service The volume weight of mechanism, so that it is more portable, it is easily assembled to.Spring performance keeps shuttlecock (pre- with arbitrary speed or angle If in range) it is issued from feather ball machine, make it possible various random practices.

Detailed description of the invention

Fig. 1 is serving mechanism structural schematic diagram in the utility model first embodiment.

Fig. 2 is the spring discharge mechanism structural schematic diagram of serving mechanism in the utility model first embodiment, is shown in figure The spring with spring discharge mechanism cooperation is gone out；

Fig. 3 is the spring discharge mechanism perspective view of serving mechanism in the utility model first embodiment, is shown in the figure With the spring of spring discharge mechanism cooperation；

Fig. 4 is the spring discharge mechanism schematic diagram of serving mechanism in the utility model first embodiment.

Fig. 4 ' is the spring discharge mechanism exploded view of serving mechanism in the utility model first embodiment.

Fig. 5 is that the intelligent badminton service device structure in the utility model second embodiment with the serving mechanism is shown It is intended to, serving mechanism is arranged in host.

Fig. 6 is the perspective view one that ball machine structure is stored up in the utility model second embodiment.

Fig. 7 is the perspective view two that ball machine structure is stored up in the utility model second embodiment.

Fig. 8 is the solid that storage ball machine structure omits ball storage barrel fixed part and ball storage barrel in the utility model second embodiment Figure.

Fig. 9 is the ball storage barrel fixing part structure schematic diagram that ball machine structure is stored up in the utility model second embodiment.

Figure 10 is the gas circuit principle block diagram of serving mechanism in the utility model second embodiment.

Specific embodiment

It is practical new to this below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer Each embodiment of type is explained in detail.However, it will be understood by those skilled in the art that each in the utility model In embodiment, in order to make the reader understand this application better, many technical details are proposed.But even if without these skills The required guarantor of each claim of the application also may be implemented in art details and various changes and modifications based on the following respective embodiments The technical solution of shield.

The utility model first embodiment provides a kind of serving mechanism, referring to Fig. 1 comprising: service control unit And the power device of power is provided to service control unit.Service control unit includes ball support 306, and ball support is tail portion opening Cone structure, is shuttlecock accommodating cavity inside cone structure, and it is conical cavity which, which accommodates cavity, the internal diameter of conical cavity to tail Portion is gradually increased towards front, and ball support is provided with driving ball support and receives shuttlecock and the horizontal ball support driving fallen vertically upward Mechanism, Fig. 1 are ball support vertically upward direction towards reader direction, and state shown in Fig. 1 then represents ball support and fell in level State, and it is to be exactly in service position that ball support, which is in the state of falling shown in FIG. 1, being now placed in shuttlecock in ball support can be by Shuttlecock is issued from service mouth after spring impact.Shuttlecock is struck out ball support by coaxial be equipped in ball support tail portion in service position Elastic element 310, elastic element includes but are not limited to spring, and spring has elastic component extruding dress far from the connection of ball support end It sets, spring is equipped with towards ball support end by the spring discharge mechanism of the elastic element release of compression, and elastic element pressurizing unit connects It is connected to power device.

Gas tank 300, pressure reducing valve 301, pressure switch 302, pump 303, twin shaft cylinder 305, ball support is shown in FIG. 1 306, ball support driving motor 307, trigger driving motor 308, power supply 309, spring 310, bottom plate 311, two-position two-way solenoid valve 312, two-position five-way air-operated solenoid valve 313, spring and ball support coaxial arrangement, power supply 309 is as entire serving mechanism and storage ball The power supply of mechanism, the power supply 309 are connected to trigger mechanism (having equivalent meanings with serving mechanism) and store up ball machine structure Electrical component, such as trigger driving motor 308, transport mechanism 13 and Geneva drive, control system etc..In the present embodiment Entire badminton service robot structure is controlled using single-chip microcontroller.

It will be seen from figure 1 that utilizing spring machine for releasing after spring is squeezed by elastic element pressurizing device (pressurizing unit) Structure stops spring to lead to after spring completes accumulation of energy (bottom plate squeezes spring under the drive of twin shaft cylinder) operation towards ball support one end It crosses and opens spring discharge mechanism and spring percussion is allowed to be located at the shuttlecock in ball support, to allow shuttlecock from the service of ball support face Mouth issues.The serving mechanism is compact-sized, and overall space occupancy is small, full under the premise of guaranteeing functional reliability and stability Requirement that is sufficient portable and being easily assembled to.

With continued reference to Fig. 1, elastic element pressurizing unit includes: bottom plate 311, when bottom plate 311 is set in service position Ball support tail portion；Elastic element compression cylinder 305, elastic element compression cylinder 305 for example can choose twin shaft cylinder, twin shaft cylinder It is set to serving mechanism mounting base and parallel with spring extending direction, the cylinder rod of twin shaft cylinder is connected to bottom plate, bottom plate connection In spring far from ball support one end, cylinder is connected to gas source component.It can be squeezed such as spring by elastic element pressurizing unit The elastic element of composition, thus allow spring put aside energy, in order under the control of spring trigger from axis release spring, from And fire the shuttlecock in ball support.After being squeezed due to spring by twin shaft cylinder, needs that spring is allowed to carry out accumulation of energy, be continuously needed utilization Spring discharge mechanism is cooperated, so that service robot service is in controllable state.

Referring to Fig. 1, ball support driving mechanism 307 is ball support driving motor, which can drive ball support face Transport mechanism after the completion of receiving movement, can concede points and prop up down to receive, and hold in the palm the opening of tail portion just to concede points To spring, to wait release spring and shuttlecock is fired out ball support, and then completes shuttlecock and sent out from service robot service mouth The movement of ball.And the power device provided in the figure includes: gas tank 300, is provided with pressure switch 302, pressure switch connection Control system uses single-chip microcontroller in control system, the present embodiment；Pump 303 is connected to gas tank, and gas tank is additionally provided with Pressure reducing valve 301.Gas tank can give service robot and provide gas source power, and pump can allow service robot to obtain lasting gas source confession It gives, gas tank is avoided to carry out external complement high pressure gas and cause service robot operating interruptions.

It will be recalled from above that power device by pump, air accumulator (gas tank), pressure switch, reducer unit at.Pump pair Air accumulator inflates the atmospheric pressure value increased in air accumulator, and when air pressure reaches prospective peak value, it is logical to disconnect pump for pressure switch work Road makes it stop working, the pressure switch connection pump work when air pressure is lower than preset value, by the above process, it is ensured that hair Ball machine run air accumulator in pressure in a certain range, and with the preset pressure of pressure reducing valve to serving mechanism provide constant air pressure.

In addition, service control unit further include: bi-bit bi-pass air-operated solenoid valve, two-position five-way air-operated solenoid valve, two two Ventilation moving electromagnetic valve is connected to gas tank, and bi-bit bi-pass air-operated solenoid valve is connected to two-position five-way air-operated solenoid valve, two-position five-way gas Moving electromagnetic valve is connected to elastic element compression gas tank.Referring to Figure 10, it was found from the figure that, two-position two-way solenoid valve 312, two-position five-way The air circuit connection relationship of the elements such as air-operated solenoid valve 313, twin shaft cylinder 305, gas tank 300 is as follows: pump 303 passes through pipeline It is connected to gas tank 300, gas tank 300 is connected to two-position two-way solenoid valve 312 by pipeline, and two-position two-way solenoid valve 312 It is connected to two-position five-way air-operated solenoid valve 313, two-position five-way air-operated solenoid valve 313 is connected to twin shaft cylinder 305.

Referring to fig. 2-4, spring discharge mechanism includes: the axis 318 for being installed on axis mounting base, is provided with logical for spring The through-hole crossed, when twin shaft cylinder squeezes spring, bottom plate can squeeze spring towards central axis direction.It is set in axis and can be around axis The slide block B of rotation has and pushes inclined surface, and is set in axis and is then provided with and slide block B with the sliding block A of slide block B cooperation The inclined surface of cooperation.It is installed on the trigger of axis, there is the trigger arm between sliding block A and axis and is connected to trigger Arm and the trigger head that can close axis port, axis port herein is fired as spring to be exported, and trigger arm is provided with and sliding block A The inclined-plane of cooperation, driving slide block B along the driving assembly of axis clockwise or counterclockwise include: trigger driving motor 308, Belt pulley 316, belt 317, slide block B are provided with belt mounting groove, from figure 3, it can be seen that being disposed on twin shaft cylinder Spring discharge mechanism mounting shell, which is in U-shape, and spring discharge mechanism mounting shell is set towards bottom end It is equipped with end plate, as axis mounting base, axis is arranged at end plate spring discharge mechanism mounting shell here, and trigger driving electricity Machine 308 be installed on by bracket (not shown) be set to spring discharge mechanism mounting shell either inside serving mechanism its On his bracket, and the power output end of trigger driving motor 308 installs belt pulley 316, and belt pulley 316 is connected by belt 317 Slide block B.The working principle of the spring discharge mechanism is: trigger driving motor 308 drives 316 directional rotating of belt pulley, passes through Belt drives slide block B 320 to rotate around axis 318, and does not move horizontally.Due to sliding block A319 and 320 contact surface of slide block B For inclined-plane, and sliding block A319 is nested only to move horizontally on axis 318, when slide block B 320 rotates, pushes sliding block A319 is moved to left, and then trigger 321 is pushed to be closed, and axis 318 is closed, to bite spring 310；When slide block B 320 rotates again When, sliding block A319 moves to right the position for returning to and being engaged with slide block B 320, while losing the control to trigger 321, release spring 310, Compressed spring stretches and strikes the shuttlecock in ball support 306, to complete a shot.

With continued reference to Fig. 4, Fig. 4 ', the installation form between trigger and slide block B is as follows: being provided on axis 318 and sliding block The track that A319 and slide block B 320 cooperate, sliding block A, slide block B have a shape cooperated with respective track, axis rear portion it is cylindric Rotation track of the body as slide block B, move horizontally track of the polymorphic structure of axis front as sliding block A, axis front is in circle Be provided on the basis of column straight guide surface 318a, under straight guide surface 318b, and the two sides of upper straight guide surface be arranged There is inclined surface, the two sides of straight guide surface are provided with inclined surface under, and there are two vertical flat close to the setting of axis front free end Face, two vertical planes are installed for installing two U-shaped trigger mounting portion 321a, trigger 321 by trigger bottom axis 321 ' In U-shaped trigger mounting portion, by the concave-convex clutch structure of sliding block A319 and slide block B 320, make to be driven by trigger driving motor 308 The slide block B 320 of rotation pushes sliding block A319 to do movement to the left, sets groove-like structure on the inside of sliding block A319 for trigger 319a, when sliding block A319 is pushed to the leftmost side, trigger is just advanced along inside groove and is closed.It is inside axis spring channels (through-hole), When trigger closure can then allow spring energy-storage, trigger is opened, then the spring of accumulation of energy can fire shuttlecock.

In addition, being equipped with several little springs 322 in the end of sliding block A319, which is connected with bottom cover 323.If It sets little spring 322, the purpose of bottom cover 323 is: moving to right to return to using the promotion of little spring 322 sliding block A319 and be stung with slide block B 320 The position of conjunction, and bottom cover 323 be disposed with the matched opening of trigger 321, and spring can be fired by the opening in axis 318 Shuttlecock, and bottom cover 323 can be fixed on spring trigger configuration mounting shell.

Referring to Fig. 1, and steering control system can also be arranged in serving mechanism, and steering control system includes: for controlling hair First stepper motor of ball lateral angles is connected to serving mechanism mounting base by axis connected device；For controlling longitudinal angle of serving a ball The second stepper motor of degree is connected to spline by belt, and spline is connected with serving mechanism mounting base.In Fig. 1, control is turned to System processed includes spline 304, the first stepper motor 314, second stepper motor 315, referring to Fig. 6, the first stepper motor 314, Two stepping motor 315 is connected to control system and power supply.Spline 304 is connected with the first stepper motor 314, while by spline It is connected with the tripod shaft of lower part, and second stepper motor 315 is connected to trigger mechanism, the first stepper motor by axis connected device 314 are connected to belt pulley, and belt pulley connects spline by belt, and the first stepper motor 314 passes through pulley rotation belt band Dynamic spline, which is done, to horizontally rotate.Single-chip microcontroller, which is assigned to horizontally rotate to instruct, accurately controls service lateral angles to the first stepper motor, single Piece machine assigns vertical rotation command to second stepper motor, accurate control service regulation of longitudinal angle.

The second embodiment of the utility model provides a kind of intelligent badminton service device comprising the first embodiment party The serving mechanism that formula provides.

Intelligent shuttlecock ball for assembling serving mechanism provided by the utility model first embodiment is served a ball For device, matched existing storage ball machine structure can be used.

And the utility model second embodiment can refer to Fig. 5 institute for the matched storage ball machine structure of the serving mechanism Show.Ball cylinder 1, ball cylinder chassis 2, host 3 (serving mechanism is arranged in host), foot prop 4, service mouth 5, service are shown in Fig. 5 5 faces of mouth are in the ball support of service position, and towards the service mouth, the size of ball support is adapted to the horn mouth of ball support with shuttlecock size.

Referring to Fig. 6-9, the storage ball machine structure of intelligent shuttlecock ball ball serving device includes: pedestal and multiple ball storage barrels.Base Seat tool has ball storage barrel fixed part 10 and the shuttlecock positioned at ball storage barrel fixed part lower part grabs hole, and ball storage barrel 11 is circumferential to be installed on storage Ball cylinder fixed part 10, ball storage barrel fixed part are provided with the ball storage barrel driving machine in driving ball storage barrel under shed face shuttlecock crawl hole Structure 12.

Referring to Fig. 8, ball storage barrel driving mechanism 12 includes: the Geneva drive of sheave structure and driving sheave structure, Here Geneva drive selects sheave driving motor 120, sheave structure include: driven sheave 121, active driver plate 122 with And rack 123, the straight pin 1220 on active driver plate 122 enter before the radial slot on sheave, convex Locking arc is by recessed Locking arc It locks, then sheave is stationary.When straight pin 1220 enters radial slot, convex, recessed Locking arc is just separated, and straight pin 1220 can be with Driving sheave rotation.When straight pin 1220 is detached from radial slot, convex Locking arc again locks recessed Locking arc, to keep sheave static Motionless, above-mentioned sheave structure is the mature prior art.Therefore, when active driver plate 122 makees continuous rotation, sheave is made by driving Unidirectional intermittent rotary.The driven sheave 121 of sheave structure is connected to ball storage barrel fixed part, the active driver plate 122 of sheave structure It is connected to Geneva drive (i.e. sheave driving motor 120).Sheave structure can be rapidly performed by the switching of ball storage barrel, thus Completion has ball ball storage barrel and without the switching between ball ball storage barrel.

It should be pointed out that the pedestal of the storage ball machine structure is upper layer and lower layer structure, ball storage barrel fixed part is distributed in upper layer, plumage Ball top grabs pore size distribution in lower layer, and in Fig. 5, and the part for exposing host is ball storage barrel fixed part, the ball storage barrel fixed part Ball storage barrel can be installed, also, ball storage barrel fixed part can be rotated under the driving of sheave structure, thus rotation ball storage barrel To working position (position for filling the ball storage barrel under shed face shuttlecock crawl mouth of shuttlecock).And pedestal is fixed in addition to ball storage barrel Portion, ball storage barrel are exposed to outside host, and pedestal rest part is arranged in inside host, in this way for entire badminton service device Volume miniaturization is of great advantage.If entirely storage ball machine structure is completely exposed to outside host, it is bound to cause occupancy volume It is bigger, it can be seen, storage ball machine structure is arranged to upper layer and lower layer structure and makes the space layout of storage ball machine structure more compact, There is active promoting function for the volume miniaturization of complete machine.And the storage ball mechanism section being located in host can refer to Fig. 6-9. It should be noted that do not show that the shuttlecock positioned at lower layer grabs hole in figs. 6-9, and lower layer can be a plate knot Structure, the circular hole that one and shuttlecock form fit is arranged on the plate structure accordingly grab hole as shuttlecock.And Shuttlecock crawl hole is located at right above mechanical gripper.

As can be seen from Figure 6, for the circumferential installation of ball storage barrel fixed part 10 there are four ball storage barrel 11, each storage ball bucket can about place 12 A shuttlecock, the internal diameter of single ball storage barrel are slightly larger than the outer diameter of shuttlecock, can guarantee that shuttlecock can be smoothly from ball storage barrel Slide into ball storage barrel bottom, to facilitate the grasping movement of mechanical gripper, and mechanical gripper crawl be shuttlecock ball head Position.

Referring to Fig. 9, ball storage barrel fixed part 10 has the driven sheave pilot hole 100 being centrally arranged, the ball storage barrel fixed part It is provided with centered on driven sheave pilot hole and four ball storage barrel fitting openings 101 of annular array arrangement, this class formation allow Ball storage barrel can be installed removably and be located in ball storage barrel fixed part, consequently facilitating assembling and maintenance, it can from Fig. 9 Out, ball storage barrel fitting opening is provided with annular ball storage barrel installation platform 102, hollow cylindrical can be allowed to store up by suspended deck structure Ball cylinder is directly plugged in the opening of ball storage barrel fixed part, and installation is more convenient, quick.

To realize intelligent operation, whether the ball storage barrel mesoptile ball that pedestal is provided with detection face shuttlecock crawl hole is grabbed Empty detecting element, such as photoelectric sensor, detecting element are connected to control system, and control system is connected to ball storage barrel driving machine Structure.Whether beaten using the shuttlecock in photoelectric sensor identification ball storage barrel, once the shuttlecock in ball storage barrel has been beaten, photoelectric transfer Sensor can give the sheave driving motor signal of pedestal, drive one circle of motor rotation, make the circular hole and next storage ball of pedestal lower layer The cylinder center of circle is overlapped, so that the shuttlecock in next ball storage barrel be enable to be grabbed and be transmitted by transport mechanism.

Continue to see Fig. 6-7, store up ball machine structure further include: is set at shuttlecock crawl hole and is used for ball storage barrel mesoptile ball Crawl is delivered to the transport mechanism 13 of ball support.Being connected between storage ball machine structure and badminton launcher structure may be implemented in the mechanism. Referring to Fig. 6, transport mechanism includes: extract shuttlecock from ball storage barrel out mechanical gripper 130, guide rod 131, driving mechanical gripper The second steering engine 133 that first steering engine 132 of folding, the mechanical crawl of driving move vertically.Guide rod 131 is vertically installed on supporter, Here supporter can be the bracket inside host, be also possible to the bracket of pedestal itself, and guide rod is equipped with guide holder 134, First steering engine 132 is installed on guide holder, and the first steering engine is connected to mechanical gripper；Second steering engine is connected to by connecting rod 135 and is led To seat.First steering engine controls mechanical gripper closure crawl and opens release shuttlecock, and the second steering engine controls mechanical gripper and hangs down along guide rod Straight movement, ensures that shuttlecock is vertically fallen into the ball support of trigger mechanism by simple motion.

The working principle of the intelligence badminton service device is as follows:

Firstly, storage ball transport mechanism is made of pedestal and four ball storage barrels, each storage ball bucket can about place 12 feathers Ball, pedestal divide upper layer and lower layer, and for fixing ball storage barrel, there are one and an equal amount of circular hole of cylinder section, feather in lower layer on upper layer Thus ball is grabbed by the manipulator of transport mechanism, while storing up ball machine structure lower part setting photoelectric sensor, once the ball in ball bucket is beaten Complete, photoelectric sensor can drive one circle of motor rotation, make the circular hole and next storage ball of pedestal lower layer to pedestal by motor signal The bucket center of circle is overlapped, so that the shuttlecock in next storage ball bucket be enable to be grabbed and be transmitted by transport mechanism.Transport mechanism is by machinery Hand, two steering engines are constituted, and steering engine one (the first steering engine) controls manipulator closure crawl and opens release shuttlecock, steering engine two (second Steering engine) control manipulator prolong connecting rod vertical movement, ensure that shuttlecock is vertically fallen into the ball support of trigger mechanism by simple motion.

Then, service control unit is by twin shaft cylinder, ball support, bi-bit bi-pass air-operated solenoid valve, two-position five-way air-powered electromagnetic Valve, spring are constituted.Ball support driving motor 307 is signaled to by single-chip microcontroller (previously mentioned control system), ball support is made to hang down upwards It faces directly to transport mechanism, prepares to receive；Single-chip microcontroller signals to two-position two-way solenoid valve access simultaneously, and control two-position five-way is pneumatic Solenoid valve access A makes to inject twin shaft cylinder by the constant air pressure that power device provides, stretches the cylinder rod of twin shaft cylinder, when Cylinder rod touches the microswitch of end, and signal is passed to single-chip microcontroller by microswitch, and single-chip microcontroller issues instruction notification trigger Driving motor 308 closes the trigger in spring controling mechanism (spring discharge mechanism)；Single-chip microcontroller issues instruction notification ball support simultaneously Driving motor 307 props up down ball and spring horizontal and concentric；Single-chip microcontroller provides signals to two-position five-way air-powered electromagnetic simultaneously Valve access B compresses twin shaft cylinder rod, after the preset time, so that twin shaft cylinder rod is reached specified compression position, due to pedestal Connecting spring and twin shaft cylinder rod simultaneously, spring also while also have compressed same stroke, reach designated position.Then single-chip microcontroller Issuing instruction requires trigger driving motor 308 to rotate, and opens the trigger release spring of spring mechanism (spring discharge mechanism), completes Shot.

It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific implementation of the utility model Example, and in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit of the utility model And range.

Claims (10)

1. a kind of serving mechanism, characterized in that it comprises: service control unit and moving to service control unit offer power Power device；

The service control unit includes ball support, and the ball support is provided with driving ball support and receives shuttlecock and level vertically upward The ball support driving mechanism fallen, the ball support tail portion in service position is coaxial to be equipped with the elasticity member that shuttlecock is struck out to ball support Part, the elastic element connect the pressurizing unit that has elastic component far from ball support end, and the elastic element is equipped with towards ball support end The spring discharge mechanism that the elastic element of compression is discharged, the elastic element pressurizing unit are connected to power device.

2. serving mechanism according to claim 1, which is characterized in that the elastic element is spring.

3. serving mechanism according to claim 1, which is characterized in that the elastic element pressurizing unit includes:

Bottom plate, ball support tail portion when being set in service position；

Elastic element compression cylinder is set to serving mechanism mounting base and, the elasticity parallel with elastic element extending direction The cylinder rod of compression element cylinder is connected to the bottom plate, and the bottom plate is connected to spring far from ball support one end, and the cylinder connects It is connected to gas source component.

4. serving mechanism according to claim 1, which is characterized in that the spring discharge mechanism includes:

It is installed on the axis of axis mounting base, is provided with the through-hole passed through for elastic element；

It is set in axis and can have around the slide block B of central axis and push inclined surface；

It is set in axis and the sliding block A with slide block B cooperation, is provided with the inclined surface with slide block B cooperation；

It is installed on the trigger of axis, there is the trigger arm between sliding block A and axis and is connected to trigger arm and can seal The trigger head of axis port is closed, the trigger arm is provided with the inclined-plane with sliding block A cooperation；

Drive driving assembly of the slide block B along axis clockwise or counterclockwise.

5. serving mechanism according to claim 1, which is characterized in that the ball support driving mechanism is ball support driving motor.

6. serving mechanism according to claim 1, which is characterized in that the power device includes:

Gas tank, is provided with pressure switch, and the pressure switch is connected to control system；

Pump is connected to gas tank.

7. serving mechanism according to claim 4, which is characterized in that the service control unit further include: bi-bit bi-pass Air-operated solenoid valve, two-position five-way air-operated solenoid valve, the bi-bit bi-pass air-operated solenoid valve are connected to gas tank, the bi-bit bi-pass gas Moving electromagnetic valve is connected to the two-position five-way air-operated solenoid valve, and the two-position five-way air-operated solenoid valve is connected to elastic element compression Gas tank.

8. serving mechanism according to claim 1, which is characterized in that further include:

For controlling the first stepper motor of service lateral angles, serving mechanism mounting base is connected to by axis connected device；

For controlling the second stepper motor of service regulation of longitudinal angle, spline, the spline and service robot are connected to by belt Structure mounting base is connected.

9. serving mechanism according to claim 1, which is characterized in that the ball support is the cone structure of tail portion opening.

10. a kind of intelligence badminton service device, which is characterized in that it includes such as the described in any item services of claim 1-9 Mechanism.