阅读说明：本技术 一种蓄力式羽毛球陪练机器人 (Power-storage type badminton training robot ) 是由 赵地 王常维 王泽宇 李文凯 侯贵洋 杨真 王璐瑶 沈业勤 于 2018-06-20 设计创作，主要内容包括：本发明提供了一种蓄力式羽毛球陪练机器人,包括接球单元,其包括与机架转动连接的前转动轴和与前转动轴轴线平行的后转动轴；球拍通过球拍支架与前转动轴转动连接,球拍的轴线与前转动轴的轴线垂直,且球拍与机架之间安装有弹簧；球拍固接于球拍支架的下端,球拍支架的上端固接有旋转块,球拍支架通过旋转块套装在前转动轴上；后转动轴上通过固接的绕线辊缠绕有蓄力丝,蓄力丝的端部与球拍固接；蓄力电机,其通过离合器与后转动轴传动连接。本发明所述的蓄力式羽毛球陪练机器人,跑位更加灵活迅速。能够提前完成球拍的蓄力准备工作,且可通过调节压力传感器的位置来调节蓄力的大小。通过牙嵌式离合器能够精准的完成蓄力和释放过程。(The invention provides a force storage type badminton training robot, which comprises a badminton receiving unit, a force storage type badminton training robot and a force storage type badminton training robot, wherein the badminton receiving unit comprises a front rotating shaft and a rear rotating shaft, the front rotating shaft is rotatably connected with a frame, and the rear rotating shaft is parallel to the axis of the front rotating shaft; the racket is rotationally connected with the front rotating shaft through the racket bracket, the axis of the racket is vertical to the axis of the front rotating shaft, and a spring is arranged between the racket and the frame; the racket is fixedly connected to the lower end of the racket support, the upper end of the racket support is fixedly connected with the rotating block, and the racket support is sleeved on the front rotating shaft through the rotating block; the rear rotating shaft is wound with a force storage wire through a fixedly connected winding roller, and the end part of the force storage wire is fixedly connected with the racket; and the power storage motor is in transmission connection with the rear rotating shaft through the clutch. The force storage type badminton training robot is more flexible and rapid in running. The power storage preparation work of the racket can be completed in advance, and the power storage size can be adjusted by adjusting the position of the pressure sensor. The power storage and release process can be accurately finished through the jaw clutch.)

1. A power storage type badminton training robot is characterized by comprising:

the ball receiving unit comprises a front rotating shaft (20) rotatably connected with the frame and a rear rotating shaft (12) parallel to the axis of the front rotating shaft (20); the front rotating shaft (20) is rotatably connected with a racket (6), the axis of the racket (6) is vertical to the axis of the front rotating shaft (20), and a spring (16) is arranged between the racket (6) and the frame; the rear rotating shaft (12) is wound with a power storage wire (14) through a fixedly connected winding roller (13), and the end part of the power storage wire (14) is fixedly connected with the racket (6);

and the power storage motor (11) is in transmission connection with the rear rotating shaft (12) through a clutch.

2. The power accumulating type badminton training robot according to claim 1, wherein: the device is characterized by also comprising a movable chassis (1), wherein the lower end of the movable chassis is provided with four movable motors (2), and a motor shaft of each movable motor (2) is fixedly connected with an omnidirectional wheel (3) respectively; the rear ends of the four moving motors (2) respectively face to the center of the moving chassis (1) and are uniformly distributed.

3. The power accumulating type badminton training robot according to claim 2, wherein: the rack is fixedly connected to the upper end of the movable chassis (1) and comprises four vertically arranged support columns (5), and the four support columns (5) are arranged in a matrix manner; the front rotating shaft (20) is rotatably connected with two supporting columns (5) through bearings, and the rear rotating shaft (12) is rotatably connected with the other two supporting columns (5) through bearings;

reinforcing beams (4) are fixedly connected among the four supporting columns (5) and between the supporting columns (5) and the movable chassis (1).

4. The power accumulating type badminton training robot according to claim 1, wherein: the racket (6) is rotationally connected with the front rotating shaft (20) through a racket bracket (18); the racket (6) is fixedly connected to the lower end of the racket support (18); the upper end of the racket support (18) is fixedly connected with a rotating block (182), and the racket support (18) is sleeved on the front rotating shaft (20) through the rotating block (182).

5. The power accumulating type badminton training robot according to claim 1, wherein: the racket (6) is rotationally connected with the front rotating shaft (20) through a racket bracket (18); the racket (6) is encircled at the upper end of the racket bracket (18); the lower end of the racket support (18) is fixedly connected with a rotating block (182), and the racket support (18) is sleeved on the front rotating shaft (20) through the rotating block (182).

6. A power accumulating type badminton training robot according to claim 4 or 5, wherein: the spring (16) is a double torsion spring, and two spiral spring bodies of the spring are sleeved on the front rotating shaft (20) and are respectively positioned on two sides of the racket support (18); the connecting part of the spring (16) is rotationally connected with the racket bracket (18) through a rotary lug (181), the rotary lug (181) is on the same side as the rotary block (182), and deviates from the supporting column (5) relative to the rotary block (182); the connecting end of the spring (16) is inserted into the end part of the fixing column (19), and the fixing column (19) is vertically and fixedly connected to the rack.

7. The power accumulating type badminton training robot of claim 6, wherein: one side of the racket bracket (18) fixedly connected with the rotating block (182) is also fixedly connected with an extending column (17), and the end part of the power storage wire (14) is fixedly connected with the suspended end of the extending column (17); the power storage wire (14) is a steel wire rope.

8. A power accumulating type badminton training robot according to claim 4 or 5, wherein: a pressure sensor (15) is installed between the front rotating shaft (20) and the rear rotating shaft (12), the pressure sensor (15) is fixedly connected with the rack through a support (151), and the position of the pressure sensor (15) corresponds to the racket support (18).

9. The power accumulating type badminton training robot according to claim 1, wherein: a speed reducer (9) is installed on the power storage motor (11), and a track beam (7) is respectively arranged above and below the speed reducer (9); one end of each of the two track beams (7) is fixedly connected with the rack, the other end of each of the two track beams is erected with a vertical beam (71), the vertical beam (71) is fixedly connected with a cylinder (8), and a piston shaft of the cylinder (8) drives the speed reducer (9) to slide along the extending direction of the track beams (7).

10. The power accumulating type badminton training robot of claim 9, wherein: the clutch is a jaw clutch and comprises a fixed half clutch (101) and a movable half clutch (10) matched with the fixed half clutch; the fixed half clutch (101) is fixed on the rear rotating shaft (12), and the movable half clutch (10) is fixed on an output shaft of the speed reducer (9); and a hole corresponding to an output shaft of the speed reducer (9) is formed in the end part of the rear rotating shaft (12).

Technical Field

The invention belongs to the field of sports training equipment, and particularly relates to a ball catching robot.

Background

With the continuous progress of science and technology, various mobile robots gradually enter the daily life of people. The badminton robot has achieved certain achievements abroad, but compared with the badminton robot, the badminton robot is slightly behind the domestic technology, and the badminton robot has less relevant research in China and has great prospect. The existing ball receiving machine in the market at present mostly adopts the forms of gears or screws and the like for transmission, and is heavy, complex, poor in flexibility and high in cost.

Disclosure of Invention

In view of the above, the invention aims to provide a force-storage type badminton training robot to solve the problems that a badminton receiving machine in the prior art is heavy and complex in structure and high in cost.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a power-storage badminton training robot comprises a badminton receiving unit, a power supply unit and a control unit, wherein the badminton receiving unit comprises a front rotating shaft and a rear rotating shaft, the front rotating shaft is rotatably connected with a frame, and the rear rotating shaft is parallel to the axis of the front rotating shaft; the front rotating shaft is rotatably connected with a racket, the axis of the racket is vertical to the axis of the front rotating shaft, and a spring is arranged between the racket and the frame; the rear rotating shaft is wound with a force storage wire through a fixedly connected winding roller, and the end part of the force storage wire is fixedly connected with the racket; and the power storage motor is in transmission connection with the rear rotating shaft through the clutch.

The device further comprises a movable chassis, wherein the lower end of the movable chassis is provided with four movable motors, and a motor shaft of each movable motor is fixedly connected with an omnidirectional wheel; the rear ends of the four moving motors respectively face to the center of the moving chassis and are uniformly distributed.

Further, the rack is fixedly connected to the upper end of the movable chassis and comprises four vertically arranged support columns, and the four support columns are arranged in a matrix manner; the front rotating shaft is rotatably connected with two support columns through bearings, and the rear rotating shaft is rotatably connected with the other two support columns through bearings; reinforcing beams are fixedly connected among the four supporting columns and between the supporting columns and the movable chassis.

Further, the racket is rotationally connected with the front rotating shaft through a racket bracket; the racket is fixedly connected to the lower end of the racket support; the upper end of the racket support is fixedly connected with a rotating block, and the racket support is sleeved on the front rotating shaft through the rotating block.

Further, the racket is rotationally connected with the front rotating shaft through a racket bracket; the racket is fixedly connected to the upper end of the racket support; the lower end of the racket support is fixedly connected with a rotating block, and the racket support is sleeved on the front rotating shaft through the rotating block.

Furthermore, the spring is a double torsion spring, and two spiral spring bodies of the spring are sleeved on the front rotating shaft and are respectively positioned on two sides of the racket support; the connecting part of the spring is rotationally connected with the racket bracket through a rotary lug, and the rotary lug is positioned at the same side of the rotary block and deviates from the support column relative to the rotary block; the connecting end of the spring is inserted into the end part of the fixing column, and the fixing column is vertically and fixedly connected to the rack.

Furthermore, one side of the racket bracket fixedly connected with the rotating block is also fixedly connected with an extending column, and the end part of the power storage wire is fixedly connected with the suspended end of the extending column; the power storage wire is a steel wire rope.

Furthermore, a pressure sensor is arranged between the front rotating shaft and the rear rotating shaft, the pressure sensor is fixedly connected with the frame through a support, and the position of the pressure sensor corresponds to the racket support.

Further, a speed reducer is mounted on the power storage motor, and a track beam is respectively arranged above and below the speed reducer; one end of each of the two track beams is fixedly connected with the rack, the other end of each of the two track beams is provided with a vertical beam, the vertical beams are fixedly connected with cylinders, and piston shafts of the cylinders drive the speed reducers to slide along the extending direction of the track beams.

Furthermore, the clutch is a jaw clutch and comprises a fixed half clutch and a movable half clutch matched with the fixed half clutch; the fixed half clutch is fixed on the rear rotating shaft, and the movable half clutch is fixed on an output shaft of the speed reducer; and a hole corresponding to an output shaft of the speed reducer is formed in the end part of the rear rotating shaft.

Compared with the prior art, the power storage type badminton training robot has the following advantages:

the power storage type badminton training robot is simple in structure and flexible in operation. By moving the four omnidirectional wheels on the chassis, the invention can run more flexibly and rapidly. The force storage preparation work of the racket can be completed in advance through the spring and the force storage wire wound on the rear rotating shaft, and the force storage size can be adjusted through adjusting the position of the pressure sensor. The power storage and release process can be accurately finished through the jaw clutch. The catching mode of catching or picking up can be completed through the catching unit.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is an axonometric view of a power storage type badminton training robot according to the first embodiment of the invention;

FIG. 2 is an enlarged view of portion I of FIG. 1;

FIG. 3 is an enlarged view of section II of FIG. 1;

fig. 4 is an axonometric view of the power storage state of the power storage type badminton training robot in the first embodiment of the invention;

fig. 5 is an axonometric view of a power storage badminton training robot according to the second embodiment of the invention;

fig. 6 is an axonometric view of the power storage state of the power storage type badminton training robot in the second embodiment of the invention.

Description of reference numerals:

1-moving the chassis; 2-moving the motor; 3-an omni wheel; 4-a stiffening beam; 5-a support column; 6-racket; 7-a track beam; 71-vertical beams; 8-cylinder; 9-a speed reducer; 10-moving the half-clutch; 101-stationary half-clutch; 11-a power storage motor; 12-rear rotating shaft; 13-a winding roller; 14-power storage wire; 15-a pressure sensor; 151-a holder; 16-a spring; 17-an extended column; 18-racket frame; 181-rotating lug; 182-a rotation block; 19-fixing columns; 20-front rotating shaft.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, but are not sufficient to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.