CN209361794U - An intelligent tennis ball receiving robot - Google Patents

Abstract

The utility model belongs to the field of sports intelligent equipment, and in particular relates to an intelligent tennis receiving and serving robot, a ball receiving device, which is used to collect tennis balls; The tennis ball from the ball receiving device is pushed to the ball outlet of the ball losing device; the pushing device is located at the ball outlet of the ball losing device and is used to push the tennis ball to the serving device; the serving device shoots the tennis ball at different speeds and angles; walking The device and the walking device are located under the support platform seat, which can drive the displacement of the ball-serving robot in all directions. The utility model has the advantages of high collection efficiency and good firing effect, and improves the training effect of athletes.

Description

An intelligent tennis ball receiving robot

technical field

The utility model belongs to the field of sports intelligent equipment, in particular to an intelligent tennis ball receiving and serving robot.

Background technique

In recent years, tennis has developed rapidly in China, and the tennis population has increased rapidly. Robots serving tennis balls in tennis courts are also gaining popularity. With the advent of the intelligent era, the intelligent trend of tennis serve robots is becoming increasingly obvious, especially the intelligent sparring of tennis service robots on tennis courts is the most prominent.

However, in tennis teaching and training, it is often necessary to use a large number of tennis balls. When the balls are exhausted, they need to be picked up one by one by manpower, which seriously affects the exercise experience of the exercisers. At the same time, manpower is also needed to practice serving, so the exercise intensity of serving is high , physical exertion is great, and the quality of serving is not easy to control.

At present, there is a tennis sparring robot on the market that has the following technical problems:

1. When supplying balls, it is easy to provide multiple tennis balls at a time, causing equipment failure, and the orientation of the provided tennis balls is unstable, which affects the firing effect.

Two, because the tennis ball has good elasticity, it is easy to pop up when the tennis ball enters the catching bucket, which affects the efficiency of catching the ball.

3. Tennis loses badly, and it is easy to get stuck in the losing tube, resulting in low efficiency of losing.

Four, the direction of supply and demand is single, which cannot satisfy the high difficulty training of tennis players.

Five, the flexibility of the overall displacement of the fuselage is not enough, which affects the efficiency of catching and serving the ball.

Therefore, in order to solve the above technical problems, it is really necessary to provide an intelligent tennis ball receiving robot to overcome the defects in the prior art.

Utility model content

In order to solve the above-mentioned technical problems, the technical solution specifically provided by the utility model is: an intelligent tennis ball receiving and serving robot, including a supporting platform seat, and the supporting platform seat is provided with:

Ball catcher for collecting tennis balls;

A ball-losing device, the ball-losing device is located at the bottom of the ball-catching device and is connected with the ball-catching device to push the tennis ball out of the ball-catching device to the ball outlet of the ball-losing device;

The pushing device is located at the ball outlet of the ball losing device, and is used to push the tennis ball to the serving device;

The ball-serving device shoots tennis balls at different speeds and angles;

The walking device, which is located under the support platform seat, can drive the ball-serving robot to move in all directions.

The ball catching device is further provided: the ball catching device includes a ball catching bucket, and a number of elastic limit ropes arranged in parallel are distributed at the ball catching mouth of the ball catching bucket; The limit rope connection.

Further, the distance between the adjacent limiting ropes is not greater than the diameter of the tennis ball, but not less than the radius of the tennis ball.

Further, the shape of the ball receiving bucket is a funnel shape with a large top and a small bottom.

The ball delivery device is further provided with: the ball delivery device includes a first ball delivery pipeline and a second ball delivery pipeline connected to each other, a delivery structure is provided at the connection between the first ball delivery pipeline and the second ball delivery pipeline, and the delivery structure includes a The first elastic sheet for limiting the tennis ball and the push rod for pushing the tennis ball, the push rod and the first elastic sheet cooperate with each other to stop and push the tennis ball.

Further, the push rod includes a rack, and the rack meshes with the first gear with a drive motor to drive the push rod to reciprocate.

Further, the ball outlet of the second ball delivery pipeline is an oblique cut, and a limiting structure is provided at the ball outlet of the second ball delivery pipeline. The position circle and the limit circle can move up and down.

Further, the second elastic piece can move up and down, and is tightened by a tightening nut; the limit ring is connected and rotated by a connecting piece arranged on the rotating shaft to move up and down.

Further, an open groove is provided on the outer peripheral surface of the first ball transporting pipe.

The pushing device is further provided: the pushing device includes a funnel, a slide rail, a sliding seat, an inserting arm and a steering gear; The sliding seat is connected, and the funnel is set correspondingly to the inserting arm.

The ball-serving device is further provided, and the ball-serving device includes a supporting frame movably installed on the support platform seat and a movable frame movably connected with the supporting frame, and a percussion wheel set is installed on the movable frame, and the percussion wheel set is correspondingly arranged with the pushing device.

Further, the percussion wheel set is three percussion wheels, and the three percussion wheels include the bottom percussion wheel and the two side percussion wheels, and the tennis ball is percussed by the rapid rotation of the three percussion wheels; wherein each percussion wheel is driven by a separate first motor Drive rotation.

Further, a half gear is provided at the connecting part between the support frame and the support platform seat, the half gear meshes with the second gear installed on the support platform seat, and the second gear is driven by the second motor to make the support frame rotate left and right.

Further, the movable frame is movably installed on the supporting frame through a rotating shaft, and the movable frame is driven by a third motor to rotate up and down.

The running device is further provided, and the running device includes four sets of independent roller groups installed on the bottom of the supporting platform seat, each group of roller groups includes rollers, and the rollers are installed on the supporting platform seat through the roller frame.

Further, the roller is driven to rotate by the fourth motor, the roller frame is driven to rotate by the fifth motor, and the fifth motor drives the gear set to drive the roller frame to rotate.

Beneficial effects of the utility model: 1. The ball-catching device of the utility model passes through the ball-catching bucket, and there are several elastic limit ropes arranged in parallel at the ball-catching mouth of the ball-catching bucket, which can collect tennis balls and enter the ball-catching bucket at the same time , to prevent the tennis ball from "jumping out" of the catch bucket due to its good elasticity.

2. The utility model loses the ball device through the conveying structure that the connection of the first ball losing pipeline and the second ball losing pipeline is arranged. The rod and the first elastic piece cooperate with each other to stop and push the tennis ball.

The ball outlet of the second ball-losing pipeline restricts the tennis balls to the ball outlet with a position-limiting structure, and supplies the tennis balls in the sliding seat of the pushing device in a flow-limiting and rhythmic manner.

3. The pushing device of the utility model, the sliding seat is slidably installed on the slide rail, the inserting arm is driven to rotate by the steering gear, one side arm of the inserting arm is connected with the sliding seat, the funnel is set correspondingly to the inserting arm, and the pushing device has Pushing the tennis ball is efficient and accurate, and the rhythm is stable. It is characterized by the cooperation of the inserting arm and the sliding seat, which firmly limits the position of the tennis ball and accurately sends it into the serving device.

4. In the serving device of the present utility model, the firing wheel set is installed on the movable frame. The firing wheel set and the firing wheel set are three firing wheels, and the three firing wheels include the bottom firing wheel and the two side firing wheels. The rapid rotation of the three firing wheels; each firing wheel is driven by a separate first motor to rotate, and the high-speed rotation of the three firing wheels realizes the firing of tennis balls. The first motor is provided, and the tennis ball can be rotated and fired through the speed difference of the firing wheel.

In addition, the support frame and the movable frame movably connected with the support frame can realize the rotation up and down, left and right, and realize the shooting of the tennis ball at any angle, thereby simulating the counterattack of the real playing scene, increasing the difficulty of athlete training and improving the training quality.

5. The walking device of the utility model is driven to rotate by the fourth motor through the rollers, and the roller frame is driven to rotate by the fifth motor, and the fifth motor drives the gear set to drive the roller frame to rotate, and each roller can realize independent steering and rotation , so that the displacement of the utility model is more flexible and more accurate.

Description of drawings

Fig. 1 is a schematic structural view of the utility model; Fig. 2 is a schematic structural view of a ball receiving device of the present utility model; Fig. 3 is a schematic structural view of a ball losing device of the present utility model; Fig. 4 is a schematic diagram of a limit structure of a ball losing device of the present utility model; Fig. 5 is a schematic structural view of the pushing device of the present invention; FIG. 6 is a schematic structural view of the serving device of the present invention; FIG. 7 is a schematic structural view of the walking device of the present invention.

Label description:

Ball catching device A; ball catching bucket A1; support rod A2; ball catching port A3; limit rope A4;

Ball-losing device B; first ball-losing pipe B1; open slot B12; second ball-losing pipe B2; ball outlet B21; conveying structure B3; first elastic piece B31; push rod B32; rack B33; drive motor B34; The first gear B35; the limiting structure B4; the second elastic sheet B41; the limiting ring B42; the tight nut B43;

Pushing device C; funnel C1; slide rail C2; sliding seat C3; inserting arm C4; steering gear C5;

Serving device D; support frame D1; movable frame D2; percussion wheel set D3; percussion wheel D31; first motor D4; half gear D5; second gear D6; second motor D7; third motor D8; rotating shaft D9;

Running device E; independent roller group E1; roller E2; roller frame E3; fourth motor E4; fifth motor E5; driving gear group E6; third gear E61; fourth gear E62; roller frame E7; supporting platform seat F.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" The orientation or positional relationship indicated by etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, use a specific The azimuth structure and operation, therefore can not be construed as the limitation of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations.

Below in conjunction with the accompanying drawings, some embodiments of the present utility model will be described in detail. In the case of no conflict, the features in the following embodiments can be combined with each other.

As shown in Figure 1, what the utility model discloses is an intelligent tennis serve receiving robot, which includes a supporting platform seat F, on which a

The ball receiving device A is used to collect tennis balls and guide the collected tennis balls into the ball losing device;

The ball losing device B is located at the bottom of the ball receiving device and communicates with the ball receiving device A, and pushes the tennis ball from the ball receiving device A to the ball outlet B12 of the ball losing device B;

The pushing device C is located at the ball outlet B12 of the ball losing device B, and is used to push the tennis ball to the serving device D;

Serving device D, which sends tennis balls at different speeds and angles;

The walking device E, which is located under the support platform seat, can universally drive the displacement of the ball-serving robot.

As shown in Fig. 2, the ball catching device A is specifically: including the ball catching bucket A1, the shape of the ball catching bucket A1 is a funnel shape with a large top and a small bottom, the ball catching bucket is suspended in the air, and is fixed on the support by four support rods A2 On platform seat F.

There are several elastic limit ropes A4 arranged in parallel at the ball receiving port A3 of the ball receiving bucket A; the distance between the adjacent limit ropes A4 is not greater than the diameter of the tennis ball, but not less than the radius of the tennis ball; If the distance of A4 is too large, the tennis ball will easily "jump out" of the catching bucket, and if the distance between the adjacent limit rope A4 is too small, the tennis ball cannot be collected into the catching bucket A1.

There is a certain distance between the hole at the bottom of the ball receiving bucket A1 and the ball losing device B, and it is softly connected by the elastic limit rope A4 to solve the problem that the ball receiving bucket A1 is not connected to the ball losing device due to excessive vibration when collecting tennis balls. The technical problem of the disconnection of the B connection.

As shown in FIG. 3 , the ball losing device B is specifically: the ball losing device B includes a first ball losing pipeline B1 and a second ball losing pipeline B2 connected to each other, and the first ball losing pipeline B1 is connected from the goal opening B11 to the At the junction of the second ball pipeline B2, the height gradually decreases. The connection between the second ball-losing pipeline B2 and the first ball-losing pipeline B1 is to the ball outlet B21 of the ball-losing device B (that is, the ball outlet B12 of the second ball-losing pipeline B2D), and the first ball-losing pipeline B1 The outer peripheral surface is provided with an opening groove B12, which is convenient for observing the conveying state of the tennis balls, and at the same time prevents the tennis balls from being blocked due to the air pressure difference inside and outside the first ball conveying pipe B1.

As shown in Figure 4, a delivery structure B3 is provided at the connection between the first ball delivery pipeline B1 and the second ball delivery pipeline B2, and the delivery structure B3 includes a first elastic sheet B31 for limiting tennis balls and a push rod for pushing tennis balls B32, the pushing rod B32 cooperates with the first elastic piece B31 to stop and push the tennis ball.

The push rod B32 includes a rack B33, and the rack B33 meshes with a first gear B35 with a drive motor B34 to drive the push rod B32 to reciprocate.

When the tennis ball is displaced from the first ball delivery pipe B1 to the connection with the second ball delivery pipe B2, the first elastic piece B31 stops the tennis ball, and the drive motor B34 drives the rack B33 to drive the push rod B32 to move forward, thereby driving the tennis ball to break through The first elastic sheet B31 restricts movement to the ball outlet B21 of the second ball delivery duct B2.

The ball outlet B21 of the second ball-losing pipeline B2 is an oblique cut, and a limiting structure B4 is provided at the ball outlet B21 of the second ball-losing pipeline B2, and the limiting structure B4 includes the top of the tennis ball at the ball outlet B21 The second elastic sheet B41 and the limiting ring B42 of the tennis waist, the limiting ring B42 can move up and down.

The second elastic piece B41 can move up and down, and is tightened by a tightening nut B43; the limit ring B42 is connected and rotated by the connecting piece B43 arranged on the rotating shaft to move up and down.

As shown in Fig. 5, the pushing device C is further provided: the pushing device C includes a funnel C1, a slide rail C2, a sliding seat C3, an insert arm C4 and a steering gear C5; the sliding seat C3 is slidably installed on the sliding rail C2, The insertion arm C4 is driven to rotate by the steering gear C5, one side arm of the insertion arm C4 is connected with the sliding seat C3, the funnel C1 is set corresponding to the insertion arm C4, and the funnel C1 is connected with the ball outlet B12 of the second ball delivery pipeline B2D. And correspond.

As shown in Fig. 6, the ball-serving device D is further as follows: the ball-serving device D includes a support frame D1 movably installed on the support platform seat F and a movable frame D2 movably connected with the support frame D1, and the firing wheel set D3 is installed on the movable frame D2. The percussion wheel set D3 is set corresponding to the pusher C.

The firing wheel set D3 is three firing wheels D31, and the three firing wheels D31 include the bottom firing wheel D31 and the two side firing wheels D31, and the tennis ball is fired from the fast rotation of the three firing wheels D31; wherein each firing wheel D31 The rotation is driven by a single first motor D4.

A half-gear D5 is arranged at the connecting part between the support frame D1 and the support platform seat F1, and the half-gear D5 meshes with the second gear D6 installed on the support platform seat, and the second gear D6 is driven by the second motor D7 to make the support frame D1 Turn left and right.

The movable frame D1 is movably installed on the supporting frame D1 through the rotating shaft D7, and the movable frame D1 is driven by the third motor D8 to realize the vertical rotation.

As shown in FIG. 7 , the running device E is further provided, and the running device E includes four sets of independent roller groups E1 installed on the bottom of the support platform seat F. Each group of roller groups E1 includes rollers E2, and the rollers E2 are installed on the roller frame E3. Support platform seat F.

The roller E2 is driven to rotate by the fourth motor E4, the roller frame E2 is driven to rotate by the fifth motor E5, the fifth motor E5 drives the gear set E6 to drive the roller frame E7 to rotate, and the gear set E6 includes the third gear E61 and the second gear E6. The four gears E62 mesh with each other. The fifth motor E5 is used to drive the third gear E61.

The specific working process of this embodiment: the displacement of the intelligent tennis receiving and serving robot collects tennis balls through the receiving bucket A1, the tennis balls enter the first ball transporting pipeline B1 from the ball receiving bucket A1, the tennis balls enter the second ball transporting pipeline B2 due to the potential energy of gravity, and the first elastic The sheet B31 stops the tennis ball, the push rod B32 is used for preparatory push, and the drive motor B34 drives the rack B33 to move through the first gear B35, so that the push rod B32 pushes the tennis ball away from the first elastic sheet B31, and the tennis ball located at the ball outlet B21 is Under the action of tennis balls detached from the first elastic sheet B31, the tennis balls at the ball outlet B21 pass through the funnel C1 and enter the slide seat C3 (the second ball delivery pipeline B2 is filled with some tennis balls, and the tennis balls at the ball outlet B21 pass through the second elastic sheet B41 and limit ring B42 limit);

Driven by the inserting arm C4, the sliding seat C3 sends the tennis ball into the firing wheel set D3 along the displacement of the slide rail C2, the three firing wheels D31 rotate at high speed, and the tennis ball breaks away from the firing wheel set D3 for firing.

The left and right angles of the firing wheel set D3: the second gear D6 is driven by the second motor D7, thereby driving the support frame D1 to rotate left and right.

The pitch angle of the firing wheel set D3: the rotating shaft D9 is driven by the third motor D8 to drive the movable frame D2 to rotate.

Furthermore, each percussion wheel D31 with an independent motor has different rotating speeds to realize the rotation direction of the percussive tennis ball.

The steering of the roller E2 drives the third gear E61 through the fifth motor E5, which drives the meshed fourth gear E62 to rotate, thereby driving the roller frame E7 fixing the roller E2 to rotate, realizing the direction selection of the whole vehicle. The rotation of the roller E2 is driven by the fourth motor E4.

Claims (10)

1. A robot for receiving and serving an intelligent tennis ball, comprising a support platform seat, characterized in that: the support platform seat is provided with: Ball catcher for collecting tennis balls; A ball-losing device, the ball-losing device is located at the bottom of the ball-catching device and is connected with the ball-catching device to push the tennis ball out of the ball-catching device to the ball outlet of the ball-losing device; The pushing device is located at the ball outlet of the ball losing device, and is used to push the tennis ball to the serving device; The ball-serving device shoots tennis balls at different speeds and angles; The walking device, which is located under the support platform seat, can drive the ball-serving robot to move in all directions. 2. A kind of intelligent tennis receiving and serving robot according to claim 1, characterized in that: said ball receiving device comprises a ball receiving bucket, and a number of elastic limiters arranged in parallel are distributed at the receiving opening of the ball receiving bucket. Rope; the ball receiving bucket and the ball losing device are connected by an elastic limit rope. 3. A kind of intelligent tennis receiving and serving robot according to claim 2, characterized in that: the distance between the adjacent limiting ropes is not greater than the diameter of the tennis ball, but not less than the radius of the tennis ball; the shape of the receiving bucket is above Large and small funnel-shaped. 4. A kind of intelligent tennis ball receiving robot according to claim 1, is characterized in that: described ball-losing device comprises the first ball-losing pipeline and the second ball-losing pipeline that are connected to each other, the first ball-losing pipeline and the second ball-losing pipeline. A conveying structure is provided at the connection of the ball-losing pipeline, and the conveying structure includes a first elastic sheet for limiting the tennis ball and a push rod for pushing the tennis ball, and the push rod cooperates with the first elastic sheet to limit and push the tennis ball. 5 . The intelligent tennis ball receiving robot according to claim 4 , wherein the push rod includes a rack, and the rack meshes with a first gear with a driving motor to drive the push rod to reciprocate. 6 . 6. A kind of intelligent tennis ball receiving robot according to claim 4, characterized in that: the ball outlet of the second ball-losing pipeline is an oblique cut, and a limiting structure is arranged at the ball-outlet of the second ball-losing pipeline , the limiting structure includes a second elastic sheet at the top of the tennis ball and a limiting ring at the waist of the tennis ball, the limiting ring can move up and down; the outer peripheral surface of the first ball delivery pipe is provided with an open groove. 7. The intelligent tennis ball receiving robot according to claim 6, characterized in that: the second elastic piece can move up and down, and is tightened by a tightening nut; the limit ring is arranged on the rotating shaft The connecting piece is connected and rotated to move up and down. 8. A kind of intelligent tennis receiving and serving robot according to claim 1, characterized in that: the pushing device includes a funnel, a slide rail, a slide seat, an inserting arm and a steering gear; the slide seat is slidably installed on the slide rail , the inserting arm is driven to rotate by the steering gear, one side arm of the inserting arm is connected with the sliding seat, and the funnel is set correspondingly to the inserting arm. 9. A kind of intelligent tennis ball receiving robot according to claim 1, characterized in that: said serving device includes a support frame which is movably installed on the support platform seat and a movable frame which is movably connected with the support frame, and the firing device is installed on the movable frame A wheel set, the firing wheel set is set correspondingly to the push device; The percussion wheel set is three percussion wheels, the three percussion wheels include the bottom percussion wheel and the two side percussion wheels, and the tennis ball is percussed by the rapid rotation of the three percussion wheels; wherein each percussion wheel is driven to rotate by a separate first motor ; The connecting part between the support frame and the support platform seat is provided with a half gear, the half gear meshes with the second gear installed on the support platform seat, and the second gear is driven by the second motor to make the support frame rotate left and right; The movable frame is movably installed on the supporting frame through a rotating shaft, and the movable frame is driven by a third motor to rotate up and down. 10. A kind of intelligent tennis ball receiving robot according to claim 1, it is characterized in that: described walking device comprises four sets of independent roller sets installed on the bottom of the support platform seat, each set of roller sets includes rollers, and the rollers pass through the roller frame Installed on the supporting platform seat; the rollers are driven to rotate by the fourth motor, the roller frame is driven to rotate by the fifth motor, and the fifth motor drives the gear set to drive the roller frame to rotate.