Four-degree-of-freedom manipulator for volleyball spiking skill training

Abstract

The invention discloses a four-degree-of-freedom manipulator for volleyball spiking skill training, and relates to the technical field of manipulators, the four-degree-of-freedom manipulator comprises a target box, a second guide frame and a first guide frame, two communicating grooves are formed in the top of the first guide frame, and an equipment mounting box is arranged in the first guide frame; a multi-angle control structure is arranged between the equipment mounting box and the target box, two displacement control structures are arranged in the equipment mounting box, and each displacement control structure is connected with two hollow frames to control the training manipulator to work to drive the target box to move; passive blocking of volleyballs is changed into spiking of trainees into the target box, the computing power needed by work of the training manipulator is reduced, and the use cost of the training manipulator is reduced. The target box driven by the training mechanical arm to move has the volleyball storage effect, part of the volleyballs are stored and concentrated in the target box, and the number of the volleyballs needing to be recycled by workers is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a four-degree-of-freedom manipulator for volleyball spiking technique training. Background Art

[0002] Spiking is one of the five major techniques in volleyball, including serving, cushioning, passing, spiking and blocking. In volleyball games, spiking is the main scoring technique. At critical moments, whether you can score by spiking is related to whether you can gain the initiative in the game or even win the game. For a volleyball player to master the spiking technique proficiently, he must undergo long-term special training. Based on scientific training theories and techniques, the appropriate introduction of auxiliary training systems and special equipment can effectively reduce the workload of sparring coaches and provide the necessary technical guarantee for improving the training level of athletes.

[0003] For example, the invention with existing publication number CN: 103170116A discloses a manipulator for volleyball spiking technique training, and its structure is as follows: the accompanying coach controls the key module to give an input signal to the single-chip microcomputer, the single-chip microcomputer recognizes the signal, gives a corresponding output signal, controls the driver, and the driver drives the rotation of the stepper motor shaft, thereby driving the simulated palm to extend and retract, and achieve the purpose of blocking. By moving the device as a whole, rotating the knob, and rotating the simulated palm, the specific position of the block can be accurately controlled. The present invention can simulate a single-person block, and provide a real environment for volleyball spiking technique training for volleyball players, thereby achieving good training results.

[0004] Taking the above-mentioned volleyball spiking technique training robot as an example, the robot passively intercepts the volleyball. Since the trainees hit the ball irregularly, the robot passively intercepts the high-speed moving exhaust gas, which requires the robot to have higher computing power and flexibility. Regardless of whether the interception is successful or not, the exhaust gas will be scattered in the training ground, which is troublesome to collect and leads to high training costs. Summary of the invention

[0005] The purpose of the present invention is to provide a four-degree-of-freedom manipulator for volleyball spiking technique training to solve the problems raised in the prior art.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a four-degree-of-freedom manipulator for volleyball spiking technique training, comprising a target box, a guide frame 2 and a guide frame 1, the guide frame 1 having two connecting grooves on the top, an equipment installation box arranged inside the guide frame 1, a multi-angle control structure arranged between the equipment installation box and the target box, two displacement control structures arranged inside the equipment installation box, each of the displacement control structures being connected to two hollow frames, a connecting seat 4 being arranged on one side of the hollow frame, a pneumatic cylinder 2 and two telescopic rods 2 being fixedly installed inside the hollow frame, a support rod being fixedly penetrated inside the connecting seat 4, and positioning vertical plates being arranged on both sides of the connecting seat 4.

[0007] Preferably, two thread grooves 2 are provided on both sides of the guide frame 2, two fixing plates are provided on both sides of the connecting groove, the fixing plate is fixedly connected to the guide frame 1, two thread grooves 1 are provided on one side of the fixing plate, and bolts 1 are passed through multiple thread grooves 1 close to the guide frame 2, and the bolts 1 are threadedly connected to the fixing plates.

[0008] Preferably, a plurality of support frames are fixedly installed inside the guide frame 1 and the guide frame 2, and the equipment installation box is arranged on the top of the plurality of support frames.

[0009] Preferably, the multi-angle control structure includes a connecting seat and a forward and reverse motor, the connecting seat is fixedly installed on the top of the equipment installation box, the forward and reverse motor is fixedly installed inside the connecting seat, a brake is provided on the outer side of the output end of the forward and reverse motor, the brake is fixedly connected to the connecting seat, and a connecting plate is fixedly installed on the output end of the forward and reverse motor.

[0010] Preferably, an elastic member is fixedly installed on the top of the connecting plate 1, a connecting plate 2 is fixedly installed on the top of the elastic member, a plurality of springs are fixedly installed between the bottom of the connecting plate 2 and the connecting plate 1, a connecting seat 2 is sleeved on the outer side of the connecting plate 2, three threaded grooves 3 are provided on the connecting seat 2 and the connecting plate 2, three bolts 2 are provided on one side of the connecting seat 2, and the connecting seat 2 is fixedly installed on the bottom of the target box.

[0011] Preferably, two pull wires are fixedly installed on the bottom of the second connecting plate, and the bottom ends of the pull wires extend to the interior of the equipment installation box, and two forward and reverse motors are fixedly installed inside the equipment installation box, and a transmission shaft is fixedly installed on the output end of the second forward and reverse motor. Two winding racks are fixedly sleeved on the outer side of the first transmission shaft, and the two pull wires are fixedly connected to the two winding racks respectively. A brake is sleeved on one end of the outer side of the first transmission shaft away from the second forward and reverse motor, and the brake is fixedly installed inside the equipment installation box.

[0012] Preferably, the second telescopic rod and the second piston end of the pneumatic cylinder are both fixedly connected to the adjacent connecting seat four, the positioning vertical plate is sleeved on the outside of the support rod, and two fixing sleeves are fixedly connected inside the positioning vertical plate, and the fixing sleeves are fixedly installed on the outside of the support rod.

[0013] Preferably, the four outer walls of the equipment installation box are each provided with a reserved slot one and two reserved slots two, the reserved slot one is internally connected to the two adjacent reserved slots two, and the four hollow frames correspond one to one with the four reserved slots.

[0014] Preferably, the displacement control structure includes a tooth plate two, a tooth plate one, a connecting seat five and two guide frames three, the guide frame three is fixedly installed inside the equipment installation box, fixed cross plates are provided on both sides of the two guide frames three, a connecting seat three and a pneumatic cylinder one are fixedly installed between the two fixed cross plates on the same side, a telescopic rod one is fixedly installed at the bottom of the connecting seat three, and the piston end of the pneumatic cylinder one and the piston end of the telescopic rod one are fixedly connected to adjacent hollow frames.

[0015] Preferably, the tooth plate 1 is fixedly connected to the outer wall of one of the pneumatic cylinders 1, and the tooth plate 2 is fixedly connected to the outer wall of the other pneumatic cylinder 1. Two supporting circular shafts are passed through the tooth plate 1 and the tooth plate 2, and the supporting circular shafts are fixedly installed inside the equipment installation box. The connecting seat 5 is fixedly installed between the two guide frames 3. The forward and reverse motor 3 and the brake 3 are fixedly installed at the bottom of the connecting seat 5. The output end of the forward and reverse motor 3 is fixedly installed with a transmission shaft 2. One end of the transmission shaft 2 passes through the brake 3 and then is fixedly installed with a gear. The gear is arranged between the tooth plate 1 and the tooth plate 2, and the gear is meshed with the tooth plate 1 and the tooth plate 2.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present application controls the equipment installation box to move forward, backward, left and right, so that the equipment installation box can move in multiple positions on a volleyball training field under the support and guidance of a motion track. The target box moves to different positions, and the trainees spike the ball into the target box that is in motion and at different positions. The training result is judged according to whether the volleyball enters the target box. The training robot is controlled to drive the target box to move, changing from passively blocking the volleyball to allowing the trainees to spike the ball into the target box, thereby reducing the computing power required for the training robot and the cost of using the training robot. The target box driven by the training robot has the effect of storing volleyballs, and some volleyballs are stored and concentrated inside the target box, thereby reducing the number of volleyballs that need to be recovered by the staff and reducing labor cost investment.

[0017] 2. In the present application, the two displacement control structures can control the left and right or forward and backward movement of the target box. The pitch angle of the target box can be controlled by controlling the forward and reverse motor 2. The forward and reverse motor 1 can be controlled to rotate the target box in different directions on the horizontal plane. The target box driven by the training manipulator has four motion variables, which enables the target box to meet various training needs and improves the flexibility of the training manipulator.

[0018] 3. The present application controls the front and rear displacement control structures and the left and right displacement control structures to work, so that the hollow frame passes through the reserved slot 1 to enter the interior of the equipment installation box, and the positioning vertical plate passes through the reserved slot 2 to enter the interior of the equipment installation box, so that the training manipulator is in a retracted state to reduce the damage it suffers. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 for Figure 1 A magnified view of the structure at B; Figure 3 It is a structural schematic diagram of a guide frame 1 of the present invention; Figure 4 for Figure 3 A magnified view of the structure at A; Figure 5 It is a structural schematic diagram of the target box of the present invention; Figure 6 for Figure 5 A magnified view of the structure at C; Figure 7 It is a structural schematic diagram of the equipment installation box of the present invention; Figure 8 It is a structural schematic diagram of the guide frame 3 of the present invention; Fig. 9 for Figure 8 A magnified view of the structure at S; Fig.10 It is a structural schematic diagram of the tooth plate 1 of the present invention; Fig.11 It is a structural schematic diagram of the fixed horizontal plate of the present invention; Fig.12 It is a partial structural schematic diagram of the positioning vertical plate of the present invention; Fig.13 It is a schematic structural diagram of a transmission shaft 1 of the present invention.

[0020] Numbers in the figure: 1, guide frame 1; 2, connecting groove; 3, fixing plate; 4, thread groove 1; 5, guide frame 2; 6, thread groove 2; 7, bolt 1; 8, support frame; 9, equipment installation box; 10, connecting seat 1; 11, connecting plate 1; 12, elastic member; 13, connecting plate 2; 14, connecting seat 2; 15, thread groove 3; 16, bolt 2; 17, spring; 18, forward and reverse motor 1; 19, brake 1; 20, pull wire; 21, forward and reverse motor 2; 22, transmission shaft 1; 23, winding frame; 24, brake 2; 25. Reserved slot one; 26. Reserved slot two; 27. Guide frame three; 28. Connecting seat three; 29. ​​Pneumatic cylinder one; 30. Fixed horizontal plate; 31. Telescopic rod one; 32. Hollow frame; 33. Telescopic rod two; 34. Pneumatic cylinder two; 35. Connecting seat four; 36. Support rod; 37. Fixed sleeve; 38. Positioning vertical plate; 39. Connecting seat five; 40. Forward and reverse motor three; 41. Transmission shaft two; 42. Brake three; 43. Gear; 44. Tooth plate one; 45. Tooth plate two; 46. Support circular shaft; 47. Target box. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Example: Figure 1-Figure 13 As shown, the present invention provides a technical solution of a four-degree-of-freedom manipulator for volleyball spiking technique training, including a target box 47, a guide frame 25 and a guide frame 1. The guide frame 1 is provided with two connecting grooves 2 on the top. An equipment installation box 9 is arranged inside the guide frame 1. A multi-angle control structure is arranged between the equipment installation box 9 and the target box 47. Two displacement control structures are arranged inside the equipment installation box 9. Each displacement control structure is connected to two hollow frames 32. A connecting seat 4 35 is arranged on one side of the hollow frame 32. A pneumatic cylinder 2 34 and two telescopic rods 2 33 are fixedly installed inside the hollow frame 32. A support rod 36 is fixedly penetrated inside the connecting seat 4 35. Positioning vertical plates 38 are arranged on both sides of the connecting seat 4 35.

[0023] Specifically, Figure 1 , Figure 3 and Figure 4 As shown, two connecting grooves 2 are provided on the guide frame 1, and two fixing plates 3 are arranged on both sides of the connecting grooves 2. Two thread grooves 4 are provided on one side of the fixing plate 3 on which the guide frame 1 is fixedly installed. After pushing one end of the guide frame 2 5 with two thread grooves 26 on both sides into between the two fixing plates 3, one end of the guide frame 2 5 is made to rest against the guide frame 1. At this time, the thread grooves 2 6 are aligned with the thread grooves 1 4. After the bolts 1 7 are rotated to pass through the thread grooves 1 4 and the thread grooves 2 6, the fixing plate 3 and the guide frame 2 5 are threadedly fixed. After operating multiple bolts 1 7 in sequence, the fixed installation of a guide frame 2 5 and a guide frame 1 can be completed.

[0024] According to the above method, four guide frames 2 5 are installed on both sides of the two connecting grooves 2, so that the guide frame 1 and the four guide frames 2 5 form a motion track with a larger coverage area. The training manipulator composed of the equipment installation box 9, the multi-angle control structure, the displacement control structure, the hollow frame 32, the positioning vertical plate 38 and other structures has sufficient movement space, so that the training manipulator can move to more positions, thereby improving the effect of the training manipulator on volleyball spiking training.

[0025] Specifically, Figure 1 and Figure 2 As shown, the guide frame 1 and the guide frame 2 5 are both fixedly installed with support frames 8, and the equipment installation box 9 is arranged on the top of multiple support frames 8. The multiple support frames 8 with curved tops support the equipment installation box 9 to reduce the friction resistance of the equipment installation box 9 when moving.

[0026] Specifically, Figure 5 and Figure 6 As shown, in the multi-angle control structure, a connecting seat 10 is fixedly installed on the top of the equipment installation box 9, a forward and reverse motor 18 is fixedly installed inside the connecting seat 10, and a connecting plate 11 is fixedly installed on the output end of the forward and reverse motor 18. The connecting plate 11 is rotatably installed on the top of the equipment installation box 9, and the connecting plate 11 can rotate relatively on the top of the equipment installation box 9; A connecting plate 2 13 is fixedly installed on the top of the elastic member 12 fixedly installed on the top of the connecting plate 11, and a connecting seat 2 14 fixedly installed on the bottom of the target box 47 is sleeved onto the outside of the connecting plate 2 13, and the position of the connecting seat 2 14 is controlled so that the three thread grooves 3 15 opened on the connecting seat 2 14 are aligned one by one with the three thread grooves 3 15 opened on the connecting plate 2 13. Subsequently, three bolts 2 16 are rotated to penetrate the three groups of thread grooves 3 15 in the aligned state, and the bolts 2 16 are threadedly fixed to the connecting seat 2 14, and the connecting seat 2 14 is fixed to the connecting plate 2 13, so that the target box 47 can be installed on the top of the training manipulator. The target boxes 47 with upper openings of different sizes can be installed on the training manipulator according to the difficulty of training, so as to ensure the adaptability of the training manipulator to volleyball spiking training with different needs.

[0027] Specifically, Figure 5 , Figure 6 and Fig.13 As shown, a plurality of springs 17 are fixedly installed between the bottom of the second connecting plate 13 and the first connecting plate 11, and the plurality of springs 17 support the second connecting plate 13, and the elastic member 12 between the second connecting plate 13 and the first connecting plate 11 can be deformed. When the target box 47 supported by the plurality of springs 17 is hit, the plurality of springs 17 are deformed under force to relieve force, thereby reducing the damage to the target box 47.

[0028] Specifically, Figure 5 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 and Fig.11 As shown, two displacement control structures are arranged inside the equipment installation box 9, and the displacement control structures include a tooth plate 2 45, a tooth plate 1 44, a connecting seat 5 39 and two guide frames 3 27. The guide frames 3 27 are fixedly installed inside the equipment installation box 9, and fixed transverse plates 30 are arranged on both sides of the inside of each guide frame 3 27. A connecting seat 3 28 and a pneumatic cylinder 1 29 are fixedly installed between the two fixed transverse plates 30 on the same side, and a telescopic rod 1 31 is fixedly installed at the bottom of the connecting seat 3 28. The two guide frames 3 27 support the connecting seat 3 28 and the pneumatic cylinder 1 29, and the pneumatic cylinder 1 29 and the telescopic rod 1 31 can move horizontally under the guidance of the two guide frames 3 27; The hollow frame 32 adjacent to the piston end of the pneumatic cylinder 29 and the piston end of the telescopic rod 31 is fixedly connected, and the telescopic rod 31 and the pneumatic cylinder 29 that can be telescoped support and control the hollow frame 32. When the pneumatic cylinder 29 works to retract, the hollow frame 32 moves up, and when the pneumatic cylinder 29 works to extend, the hollow frame 32 moves down.

[0029] The tooth plate 1 44 is fixedly connected to the outer wall of one of the pneumatic cylinders 1 29, and the tooth plate 2 45 is fixedly connected to the outer wall of the other pneumatic cylinder 1 29. Two supporting circular shafts 46 are penetrated on the tooth plates 1 44 and 2 45, and the supporting circular shafts 46 are fixedly installed inside the equipment installation box 9. The tooth plates 1 44 and 2 45 are supported and guided to move according to a preset trajectory. The bottom of the connecting seat 5 39 fixedly installed between the two guide frames 3 27 is fixedly installed with a forward and reverse motor 3 40 and a brake 3 42. The output end of the forward and reverse motor 3 40 is fixedly installed with a transmission shaft 2 41, and one end of the transmission shaft 2 41 passes through the brake 3 42 and is fixedly installed with a gear 43, and the gear 43 It is arranged between tooth plate 1 44 and tooth plate 2 45 and meshed with tooth plate 1 44 and tooth plate 2 45. When the forward and reverse motor 3 40 is controlled to work forward, the forward and reverse motor 3 40 drives the gear 43 to rotate through the transmission shaft 2 41, and the tooth plate 1 44 and tooth plate 2 45 meshed with the gear 43 move, and the two pneumatic cylinders 1 29 approach each other, and the connecting seat 3 28 is integrated with the pneumatic cylinder 1 29 through the fixed cross plate 30. The telescopic rod 1 31 fixedly connected to the connecting seat 3 28 moves synchronously with the pneumatic cylinder 1 29, and the two hollow frames 32 approach each other; when the forward and reverse motor 3 40 is controlled to work reversely, the two pneumatic cylinders 1 29 move away from each other, and the two hollow frames 32 move away from each other.

[0030] In summary, the two displacement control structures have the same structural construction, and one displacement control structure is set in the lower and front-to-back direction. The displacement control structure is referred to as the front-to-back displacement control structure below. The two hollow frames 32 driven by the front-to-back displacement control structure move up and down synchronously, move away from each other or approach each other, and control the front-to-back position and up-and-down position of the two hollow frames 32; the other displacement control structure is set in the upper and left-to-right direction. The displacement control structure is referred to as the left-to-right displacement control structure below. The two hollow frames 32 driven by the left-to-right displacement control structure move up and down synchronously, move away from each other or approach each other, and control the left-to-right position and up-and-down position of the two hollow frames 32.

[0031] The specific working conditions of the training manipulator provided in this application are as follows: Assemble the motion track on one side of the volleyball training field, push the equipment installation box 9 in the training manipulator into the guide frame 1, then install the corresponding target box 47 on the training manipulator according to the training needs, and then connect the human-computer interaction device to the training manipulator, and the human-computer interaction device controls the training manipulator according to the internal preset CNC program.

[0032] A reserved groove 1 25 and two reserved grooves 26 are provided on the four outer walls of the equipment installation box 9. The reserved groove 1 25 is connected to the inside of the two adjacent reserved grooves 26. The four hollow frames 32 correspond to the four reserved grooves 1 25 one by one. The reserved grooves 1 25 provide a passage for the hollow frame 32 to leave the equipment installation box 9. In addition, a pneumatic cylinder 2 34 and two telescopic rods 2 33 are fixedly installed inside the hollow frame 32. The piston ends of the telescopic rod 2 33 and the pneumatic cylinder 2 34 are fixedly connected to the adjacent connecting seat 4 35. When the pneumatic cylinder 2 34 is not working, the connecting seat 4 35 moves synchronously with the hollow frame 32, and a support rod 36 is fixedly penetrated on the connecting seat 4 35. Two positioning vertical plates 38 arranged on both sides of the connecting seat 4 35 are respectively sleeved on the two ends of the outer side of the support rod 36, and the fixing sleeve 37 fixedly installed inside the positioning vertical plate 38 is fixedly installed on the outer side of the support rod 36. The two positioning vertical plates 38 move synchronously with the connecting seat 4 35, and the reserved groove 2 26 corresponds to the positioning vertical plate 38 to meet the need for it to leave the equipment installation box 9.

[0033] When the training manipulator is controlled to move forward, the front-to-back displacement control structure is controlled to control the two hollow frames 32 to move away from each other. The hollow frame 32 leaves the equipment installation box 9 through the reserved slot 1 25. After the positioning vertical plate 38 leaves the equipment installation box 9 through the reserved slot 2 26, the front pneumatic cylinder 1 29 in the front-to-back displacement control structure is controlled to work and extend, and the front hollow frame 32 moves down, so that the two front positioning vertical plates 38 move down close to the top of the support frame 8. After the positioning vertical plates 38 contact the top of the support frame 8, the pneumatic cylinder 1 29 stops working, and the positioning vertical plates 38 are in a positioned state at this time. Then, the pneumatic cylinder 2 34 fixed inside the front hollow frame 32 is controlled to work and extend, so that the front connecting seat 4 35, the support rod 36 and the two positioning vertical plates 38 move forward. When the positioning vertical plates 38 move to the preset position, the pneumatic cylinder 1 29 is controlled to extend again to move the positioning vertical plates 38 down to between two of the support frames 8. At this time, the positioning vertical plates 38 are in a restricted state. Then, the pneumatic cylinder 2 34 is controlled to retract. Since the movement of the positioning vertical plates 38 on the front side is limited by the two support frames 8, the equipment installation box 9 moves forward under the action of the pneumatic cylinder 2 34; then, the pneumatic cylinder 1 29 is controlled to work to restore the positioning vertical plates 38 to the positioning state. After the pneumatic cylinder 2 34 is controlled to extend again, the pneumatic cylinder 1 29 is controlled to work to make the positioning vertical plates 38 enter a restricted state, and then the pneumatic cylinder 2 34 is controlled to retract; The reciprocating control of the front and rear displacement control structure and the pneumatic cylinder 234 to perform the above-mentioned work can control the equipment installation box 9 to move forward; similarly, the front and rear displacement control structure and the left and right displacement control structure can be controlled to work, so that the equipment installation box 9 can be controlled to move forward, backward, left and right, so that the equipment installation box 9 can move in multiple positions in the volleyball training field under the support and guidance of the motion track, and the target box 47 moves to different positions. The trainees spike the ball into the target box 47 that is in motion and at different positions, and the training result is judged according to whether the volleyball enters the target box 47. The training manipulator is controlled to drive the target box 47 to move, changing from passively blocking the volleyball to the trainees spiking the ball into the target box 47, thereby reducing the computing power required for the training manipulator to work and reducing the cost of using the training manipulator; and the target box 47 driven by the training manipulator has the effect of storing volleyballs, and some volleyballs are stored and concentrated in the target box 47, thereby reducing the number of volleyballs that need to be recovered by the staff and reducing the labor cost investment.

[0034] Two pull wires 20 are fixedly installed at the bottom of the connecting plate 2 13, and the bottom ends of the two pull wires 20 extend to the inside of the equipment installation box 9. A forward and reverse motor 21 is fixedly installed inside the equipment installation box 9, and a transmission shaft 1 22 is fixedly installed at the output end of the forward and reverse motor 21. Two winding racks 23 for winding the pull wires 20 are fixedly sleeved on the outer side of the transmission shaft 1 22. The two pull wires 20 are fixedly connected to the two winding racks 23 respectively. The forward and reverse motor 21 is controlled to work forward, and the transmission shaft 1 22 drives the two winding racks 23 to rotate clockwise, and the two pull wires 20 are wound. The connecting plate 2 13 is supported by a plurality of deformable springs 17. The pitch angle of the connecting plate 2 13 changes under the action of the two pull wires 20 to adjust the difficulty of the volleyball entering the target box 47, and the forward and reverse motor 21 is controlled to work reversely to unwind the two pull wires 20. The connecting plate 2 13 is reset under the action of the spring 17.

[0035] By controlling the forward and reverse motor 21 to perform forward rotation or reverse rotation, the pitch angle of the connecting plate 2 13 changes, the connecting seat 2 14 outside the connecting plate 2 13 and the target box 47 fixedly installed on the connecting seat 2 14 are tilted to different degrees, and in the process of controlling the forward and reverse motor 21 to reel or unreel the wire 20, the forward and reverse motor 18 is controlled to perform forward rotation or reverse rotation, the connecting plate 11 rotates, and the target box 47 rotates on the horizontal plane, so that the forward and reverse motor 18 cooperates with the forward and reverse motor 21 to adjust the direction of the target box 47; the target box 47 can be controlled to move left and right or forward and backward through the two displacement control structures, and the pitch angle of the target box 47 can be controlled by controlling the forward and reverse motor 21 to work, and the forward and reverse motor 18 is controlled to make the target box 47 rotate in different directions on the horizontal plane. The target box 47 driven by the training manipulator has four motion variables, so that the target box 47 meets the needs of various trainings and improves the flexibility of the training manipulator.

[0036] In addition, such as Figure 5 and Fig.13 As shown, a brake 24 is sleeved on one end of the outer side of the transmission shaft 22 away from the forward and reverse motor 21. The brake 24 is fixedly installed inside the equipment installation box 9. After the forward and reverse motor 21 stops working, the brake 24 is controlled to work to limit the transmission shaft 22, so that the transmission shaft 22 cannot rotate and the winding frame 23 cannot rotate.

[0037] In addition, such as Figure 7 As shown, a brake 19 is sleeved on the outer side of the output end of the forward and reverse motor 18, and the brake 19 is fixedly connected to the connecting seat 10. After the forward and reverse motor 18 has finished working, the brake 19 is controlled to work to limit the output end of the forward and reverse motor 18, so that the connecting plate 11 is limited and cannot move.

[0038] Specifically, in the process of the positioning vertical plate 38 entering the restricted state from the positioning state, the rear side pneumatic cylinder 29 is controlled to extend to push the hollow frame 32 downward, and the two rear side positioning vertical plates 38 enter between the two support frames 8. The movement of the equipment installation box 9 is restricted, ensuring that the equipment installation box 9 stays stably in place. After the front side positioning vertical plate 38 enters the restricted state, the rear side pneumatic cylinder 29 works to drive the positioning vertical plate 38 to move upward, ensuring the accuracy of the position control of the equipment installation box 9.

[0039] In addition, the front and rear displacement control structures and the left and right displacement control structures can be controlled to work, so that the hollow frame 32 enters the equipment installation box 9 through the reserved slot 1 25, and the positioning vertical plate 38 enters the equipment installation box 9 through the reserved slot 2 26, so that the training manipulator is in a retracted state to reduce the damage it suffers.

[0040] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A four-degree-of-freedom manipulator for volleyball spiking technique training, comprising a target box (47), a second guide frame (5) and a first guide frame (1), characterized in that: The guide frame 1 (1) has two connecting grooves (2) at the top, and an equipment installation box (9) is arranged inside the guide frame 1 (1). A multi-angle control structure is arranged between the equipment installation box (9) and the target box (47). Two displacement control structures are arranged inside the equipment installation box (9), and each of the displacement control structures is connected to two hollow frames (32). A connecting seat 4 (35) is arranged on one side of the hollow frame (32). A pneumatic cylinder 2 (34) and two telescopic rods 2 (33) are fixedly installed inside the hollow frame (32). A support rod (36) is fixedly penetrated inside the connecting seat 4 (35), and positioning vertical plates (38) are arranged on both sides of the connecting seat 4 (35).

2. The four-degree-of-freedom manipulator for volleyball spiking technique training according to claim 1 is characterized in that: Two thread grooves (6) are provided on both sides of the guide frame (5), two fixing plates (3) are provided on both sides of the connecting groove (2), the fixing plates (3) are fixedly connected to the guide frame (1), two thread grooves (4) are provided on one side of the fixing plate (3), and bolts (7) are passed through the plurality of thread grooves (4) near the guide frame (5), and the bolts (7) are threadedly connected to the fixing plates (3).

3. The four-degree-of-freedom manipulator for volleyball spiking technique training according to claim 1 is characterized in that: A plurality of support frames (8) are fixedly installed inside the guide frame 1 (1) and the guide frame 2 (5), and the equipment installation box (9) is arranged on the top of the plurality of support frames (8).

4. The four-degree-of-freedom manipulator for volleyball spiking technique training according to claim 1 is characterized in that: The multi-angle control structure comprises a connecting seat (10) and a forward and reverse motor (18), wherein the connecting seat (10) is fixedly mounted on the top of the equipment installation box (9), the forward and reverse motor (18) is fixedly mounted inside the connecting seat (10), a brake (19) is sleeved on the outer side of the output end of the forward and reverse motor (18), the brake (19) is fixedly connected to the connecting seat (10), and a connecting plate (11) is fixedly mounted on the output end of the forward and reverse motor (18).

5. The four-degree-of-freedom manipulator for volleyball spiking technique training according to claim 4 is characterized in that: An elastic member (12) is fixedly mounted on the top of the connecting plate 1 (11), a connecting plate 2 (13) is fixedly mounted on the top of the elastic member (12), a plurality of springs (17) are fixedly mounted between the bottom of the connecting plate 2 (13) and the connecting plate 1 (11), a connecting seat 2 (14) is sleeved on the outer side of the connecting plate 2 (13), three threaded grooves 3 (15) are formed on the connecting seat 2 (14) and the connecting plate 2 (13), three bolts 2 (16) are arranged on one side of the connecting seat 2 (14), and the connecting seat 2 (14) is fixedly mounted on the bottom of the target box (47).

6. The four-degree-of-freedom manipulator for volleyball spiking technique training according to claim 5, characterized in that: Two pull wires (20) are fixedly installed at the bottom of the second connecting plate (13), and the bottom ends of the pull wires (20) extend into the interior of the equipment installation box (9). A second forward and reverse motor (21) is fixedly installed inside the equipment installation box (9), and a transmission shaft (22) is fixedly installed at the output end of the second forward and reverse motor (21). Two winding racks (23) are fixedly sleeved on the outer side of the transmission shaft (22), and the two pull wires (20) are fixedly connected to the two winding racks (23) respectively. A brake (24) is sleeved on the outer end of the transmission shaft (22) away from the second forward and reverse motor (21), and the brake (24) is fixedly installed inside the equipment installation box (9).

7. The four-degree-of-freedom manipulator for volleyball spiking technique training according to claim 1, characterized in that: The piston ends of the telescopic rod 2 (33) and the pneumatic cylinder 2 (34) are fixedly connected to the adjacent connecting seat 4 (35); the positioning vertical plate (38) is sleeved on the outside of the support rod (36); two fixing sleeves (37) are fixedly connected inside the positioning vertical plate (38); and the fixing sleeves (37) are fixedly installed on the outside of the support rod (36).

8. The four-degree-of-freedom manipulator for volleyball spiking technique training according to claim 1, characterized in that: The four outer walls of the equipment installation box (9) are each provided with a reserved groove one (25) and two reserved grooves two (26); the reserved groove one (25) is internally connected to two adjacent reserved grooves two (26); and the four hollow frames (32) correspond one to one with the four reserved grooves one (25).

9. The four-degree-of-freedom manipulator for volleyball spiking technique training according to claim 1, characterized in that: The displacement control structure comprises a tooth plate 2 (45), a tooth plate 1 (44), a connecting seat 5 (39) and two guide frames 3 (27). The guide frames 3 (27) are fixedly installed inside the equipment installation box (9). Fixed transverse plates (30) are arranged on both sides of the two guide frames 3 (27). A connecting seat 3 (28) and a pneumatic cylinder 1 (29) are fixedly installed between the two fixed transverse plates (30) on the same side. A telescopic rod 1 (31) is fixedly installed at the bottom of the connecting seat 3 (28). The piston end of the pneumatic cylinder 1 (29) and the piston end of the telescopic rod 1 (31) are fixedly connected to a hollow frame (32) adjacent to each other.

10. The four-degree-of-freedom manipulator for volleyball spiking technique training according to claim 9, characterized in that: The tooth plate 1 (44) is fixedly connected to the outer wall of one of the pneumatic cylinders 1 (29), and the tooth plate 2 (45) is fixedly connected to the outer wall of the other pneumatic cylinder 1 (29). Two supporting circular shafts (46) are passed through the tooth plate 1 (44) and the tooth plate 2 (45), and the supporting circular shafts (46) are fixedly installed inside the equipment installation box (9). The connecting seat 5 (39) is fixedly installed between the two guide frames 3 (27). The bottom of the connecting seat 5 (39) is fixedly installed with a forward and reverse motor 3 (40) and a brake 3 (42). The output end of the forward and reverse motor 3 (40) is fixedly installed with a transmission shaft 2 (41). One end of the transmission shaft 2 (41) passes through the brake 3 (42) and is fixedly installed with a gear (43). The gear (43) is arranged between the tooth plate 1 (44) and the tooth plate 2 (45), and the gear (43) is meshed with the tooth plate 1 (44) and the tooth plate 2 (45).

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