CN106669132A - Tennis training machine integrating ball serving and picking - Google Patents
Tennis training machine integrating ball serving and picking Download PDFInfo
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- CN106669132A CN106669132A CN201510759026.9A CN201510759026A CN106669132A CN 106669132 A CN106669132 A CN 106669132A CN 201510759026 A CN201510759026 A CN 201510759026A CN 106669132 A CN106669132 A CN 106669132A
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- ball
- controller
- tennis
- friction pulley
- training machine
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Abstract
The invention belongs to the mechanical field of sports goods, and particularly relates to a tennis training machine integrating ball serving and picking. The tennis training machine comprises a frame, a ball picking controller and a camera are fixedly arranged at the front end of the frame, the ball picking controller is connected with a mechanical arm, the mechanical arm is connected with a manipulator through a displacement sensor, the displacement sensor and the camera are respectively wirelessly connected with the ball picking controller, a ball collecting basket is arranged at the upper end of the frame, the lower end of the ball collecting basket is fixedly connected to a conveying pipeline, a ball serving mechanism matched with the conveying pipeline is arranged at the left end of the conveying pipeline, and a travel power mechanism is arranged at the bottom of the frame and wirelessly connected with the ball picking controller. The tennis training machine integrates a ball serving machine and a picking machine, and is convenient and simple to use, capable of automatically picking balls and serving balls, simulating constantly changing ball serving modes in competition and furthest improving the professional competence of athletes.
Description
Technical field
The invention belongs to sports goods mechanical field, and in particular to integrate the tennis training machine that service is picked up.
Background technology
The motion of tennis fierceness as a grace, is referred to as second-biggest-in-the-world ball game, more and more welcomed by the people.
Tennis player or amateur will practise how serving a ball in initially exercise, be required for a training mate, be very much trouble, and waste the time of a people more.Therefore, in tennis training, Jing is commonly used tennis serve machine, such as application number：201420786814.8 disclose a kind of automatic tennis serve machine, including rack body, and draw-in groove and sideboard are provided with the rack body, and the rack body lower end is provided with electromotor, and the rack body upper end is provided with display.The invention has the beneficial effects as follows being provided with draw-in groove and sideboard in rack body, electromotor and display are provided with rack body, when in use tennis can be entered in support by draw-in groove, electromotor provides power ball is sent out by sideboard, the time interval of service can be set in addition by display, it is easy to use, thus can practice tee alone.
The required ball of tennis is more, needs to pick up one by one after being moved through, and after training, body consumes very big to tennis player, then goes, in the face of tennis completely, to go to pick up one by one, both time-consuming, and arduously.Therefore, also need to use tennis collecting machine, such as application number in tennis training：201320001530.9 disclosing a kind of ball picker of tennis, include：Frame, wears the main shaft being connected in the frame, the receipts ball fan blades on the main shaft, the curved track guidance tape for being arranged in the frame and being engaged with the receipts ball fan blades, and the receipts ball basket for being arranged on the track plates rear end；The electric drive system for driving the main axis is provided with the frame.The present invention drives main shaft and receives the rotation of ball fan blades by electric drive system, continuous, automatic receipts group are carried out to the tennis of scattered on floor, and the tennis dialled in is imported in receipts ball basket below by the track plates being mounted in frame, so, with the promotion back and forth of dolly, tennis on ground can continuously be collected, also can effectively be collected especially for the tennis at the side corner angle in training place, so as to improve the work efficiency that tennis is collected, muscle power is saved, the labor intensity for picking up ball is reduced.
Although above-mentioned technology can solve the problem that tennis is served a ball and pick up the problem of ball automatically, but involved machine is more, uses, maintenance cost is higher；After needing to finish tennis pickup during service training, then the tennis collected by tennis collecting machine is transferred in the ball basket of tennis serve machine, it is loaded down with trivial details using process；Further, since position is fixed when single tennis serve machine is used, automatically the mode of service, angle, distance are relatively fixed, it is impossible to Protean serving way during simulated race, limited to improving athletic professional ability.
The content of the invention
It is an object of the invention to provide integrate the tennis training machine picked up of service, to solve the problems, such as prior art in the presence of tennis serve machine with pick up ball machine single function and service robot serving way is limited.
For this purpose, the invention provides integrate the tennis training machine picked up of service, including frame,
Described frame front end is fixedly installed picks up ball controller, photographic head, and described ball controller of picking up is connected with mechanical arm, and described mechanical arm is connected by displacement transducer with mechanical hand；Described displacement transducer, photographic head with described ball controller of picking up by being wirelessly connected respectively；Described frame upper end is provided with collection ball basket, and collection ball basket lower end is fixed on conveyance conduit；Described conveyance conduit left end is provided with the serving mechanism being matched therewith；Described bottom of the frame is provided with walking actuating unit, and described walking actuating unit passes through wirelessly to be connected with ball controller is picked up.
Above-mentioned to integrate the tennis training machine that service is picked up, described serving mechanism includes motor, belt, upper friction pulley, lower friction pulley, ball mouth；Described motor is rotated by friction pulley in belt drives with lower friction pulley；Described upper friction pulley is contrary with lower friction pulley rotation direction；Minimum distance is 6 cm between described upper friction pulley and lower friction pulley, and its left end is provided with ball mouth.
Above-mentioned to integrate the tennis training machine that service is picked up, described walking actuating unit includes power supply, road wheel, live axle, traveling controller；Described power supply provides power to road wheel and traveling controller；Described traveling controller is arranged on live axle；Described traveling controller by wirelessly with pick up ball controller and be connected.
Above-mentioned to integrate the tennis training machine that service is picked up, described each joint of mechanical arm can 360 rotations.
Above-mentioned to integrate the tennis training machine picked up of service, described conveyance conduit is smooth glass pipeline, a diameter of 7.5-9 cm.
The invention has the beneficial effects as follows：What the present invention was provided integrates the tennis training machine that service is picked up, and service robot and collecting machine are combined together, reduces use, maintenance cost；Tennis all-in-one can the service automatically on one side of one side automatically picking up balls during service training, it is not necessary to add ball in ball basket again, easy to use, simple；Tennis all-in-one is served a ball in random picking up in ball motor process, can farthest improve athletic professional ability with Protean serving way during simulated race.
Description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention.
In figure：1st, displacement transducer；2nd, photographic head；3rd, ball basket is collected；4th, upper friction pulley；5th, ball mouth；6th, lower friction pulley；7th, power supply；8th, traveling controller；9th, frame；10th, live axle；11st, road wheel；12nd, mechanical hand；13rd, mechanical arm；14th, ball controller is picked up；15th, conveyance conduit；16th, belt；17th, motor.
Specific embodiment
Technological means and effect that predetermined purpose is taken is reached for the present invention is expanded on further, specific embodiment of the invention, architectural feature and its effect is described in detail below in conjunction with drawings and Examples as follows.
Embodiment 1：
Fig. 1 is the structural representation of an embodiment of the present invention, integrate the tennis training machine that service is picked up, including frame 9, the described front end of frame 9 is fixedly installed picks up ball controller 14, photographic head 2, described ball controller 14 of picking up is connected with mechanical arm 13, and described mechanical arm 13 is connected by displacement transducer 1 with mechanical hand 12；Described displacement transducer 1, photographic head 2 with described ball controller 14 of picking up by being wirelessly connected respectively；The described upper end of frame 9 is provided with collection ball basket 3, and the lower end of collection ball basket 3 is fixed on conveyance conduit 15；The described left end of conveyance conduit 15 is provided with the serving mechanism being matched therewith；The described bottom of frame 9 is provided with walking actuating unit, and described walking actuating unit passes through wirelessly to be connected with ball controller 14 is picked up.When tennis training machine works, it is not necessary to when picking up the work of ball machine structure, displacement transducer 1 can be closed, ball controller 14 is picked up；If desired tennis training machine remains stationary, can close power supply 7.When automatically picking up balls mechanism works, ball mouth 5 is towards striker, the object of surrounding is input in real time and picks up ball controller 14 by photographic head 2, when picking up ball controller 14 and detecting the object of tennis size shape, by signal by being wirelessly transmitted to traveling controller 8, displacement transducer 1；Traveling controller 8 drives tennis training machine to drive towards the tennis away from its nearest neighbours；Displacement transducer 1 navigates to the exact position for picking up the tennis detected by ball controller 14, then signal is fed back to picks up ball controller 14, picks up ball controller 14 and drives mechanical arm 13 and mechanical hand 12 that tennis is picked up and sent in collection ball basket 3.
Embodiment 2：
On the basis of embodiment 1, integrate the tennis training machine that service is picked up, including frame 9, the described front end of frame 9 is fixedly installed picks up ball controller 14, photographic head 2, described ball controller 14 of picking up is connected with mechanical arm 13, and described mechanical arm 13 is connected by displacement transducer 1 with mechanical hand 12；Described displacement transducer 1, photographic head 2 with described ball controller 14 of picking up by being wirelessly connected respectively；The described upper end of frame 9 is provided with collection ball basket 3, and the lower end of collection ball basket 3 is fixed on conveyance conduit 15；The described left end of conveyance conduit 15 is provided with the serving mechanism being matched therewith；The described bottom of frame 9 is provided with walking actuating unit, and described walking actuating unit passes through wirelessly to be connected with ball controller 14 is picked up.Described serving mechanism includes motor 17, belt 16, upper friction pulley 4, lower friction pulley 6, ball mouth 5；Described motor 17 drives upper friction pulley 4 to rotate with lower friction pulley 6 by belt 16；Described upper friction pulley 4 is contrary with the lower rotation direction of friction pulley 6；Minimum distance is 6 cm between described upper friction pulley 4 and lower friction pulley 6, and its left end is provided with ball mouth 5.When automatic pitching machine structure works, motor 17 drives upper friction pulley 4 and lower friction pulley 6 to do reverse motions by belt 16, in collecting the gap that the tennis in ball basket 3 is entered between upper friction pulley 4 and lower friction pulley 6 along conveyance conduit 15（Gap is slightly less than tennis diameter）, tennis is projected at a high speed under the high-speed extrusion of upper friction pulley 4 and lower friction pulley 6 from ball mouth 5, by adjusting the speed that the rotating speed of upper friction pulley 4 and lower friction pulley 6 is that scalable tennis is projected.Because tennis training machine is served a ball in random picking up in ball motor process, so tennis landing after position, upspring after angle, upspring after speed be all irregular, this just increased challenge to athletic training, can to the full extent improve athletic professional standards.Because tennis training machine can pick up ball while serving a ball, thus it is not used in individually being separated during training the time and adds tennis in collection ball basket 3, or first collect the tennis for being scattered in each corner of tennis court, so as to increased the efficiency of training.When not needing serving mechanism to work, motor 17 can be closed.
Embodiment 3：
On the basis of embodiment 1, integrate the tennis training machine that service is picked up, including frame 9, the described front end of frame 9 is fixedly installed picks up ball controller 14, photographic head 2, described ball controller 14 of picking up is connected with mechanical arm 13, and described mechanical arm 13 is connected by displacement transducer 1 with mechanical hand 12；Described displacement transducer 1, photographic head 2 with described ball controller 14 of picking up by being wirelessly connected respectively；The described upper end of frame 9 is provided with collection ball basket 3, and the lower end of collection ball basket 3 is fixed on conveyance conduit 15；The described left end of conveyance conduit 15 is provided with the serving mechanism being matched therewith；The described bottom of frame 9 is provided with walking actuating unit, and described walking actuating unit passes through wirelessly to be connected with ball controller 14 is picked up.Described walking actuating unit includes power supply 7, road wheel 11, live axle 10, traveling controller 8；Described power supply 7 provides power to road wheel 11 with traveling controller 8；Described traveling controller 8 is arranged on live axle 10；Described traveling controller 8 by wirelessly with pick up ball controller 14 and be connected.Power supply 7 transfers power to road wheel 11 by live axle 10, and road wheel 11 drives the motion of tennis training machine.
Embodiment 4：
On the basis of embodiment 1, integrate the tennis training machine that service is picked up, including frame 9, the described front end of frame 9 is fixedly installed picks up ball controller 14, photographic head 2, described ball controller 14 of picking up is connected with mechanical arm 13, and described mechanical arm 13 is connected by displacement transducer 1 with mechanical hand 12；Described displacement transducer 1, photographic head 2 with described ball controller 14 of picking up by being wirelessly connected respectively；The described upper end of frame 9 is provided with collection ball basket 3, and the lower end of collection ball basket 3 is fixed on conveyance conduit 15；The described left end of conveyance conduit 15 is provided with the serving mechanism being matched therewith；The described bottom of frame 9 is provided with walking actuating unit, and described walking actuating unit passes through wirelessly to be connected with ball controller 14 is picked up.Described each joint of mechanical arm 13 360 can rotate, and drive mechanical hand 12 to be sent in collection ball basket 3 to the pickup of tennis and by tennis in order to mechanical arm 13.
Embodiment 5：
On the basis of embodiment 1, integrate the tennis training machine that service is picked up, including frame 9, the described front end of frame 9 is fixedly installed picks up ball controller 14, photographic head 2, described ball controller 14 of picking up is connected with mechanical arm 13, and described mechanical arm 13 is connected by displacement transducer 1 with mechanical hand 12；Described displacement transducer 1, photographic head 2 with described ball controller 14 of picking up by being wirelessly connected respectively；The described upper end of frame 9 is provided with collection ball basket 3, and the lower end of collection ball basket 3 is fixed on conveyance conduit 15；The described left end of conveyance conduit 15 is provided with the serving mechanism being matched therewith；The described bottom of frame 9 is provided with walking actuating unit, and described walking actuating unit passes through wirelessly to be connected with ball controller 14 is picked up.Described conveyance conduit 15 is smooth glass pipeline, and a diameter of 7.5-9 cm can be rolled in the gap between friction pulley 4 and lower friction pulley 6 in conveyance conduit 15 in order to tennis by gravity.
Detailed operation of the present invention is as described below：
When tennis training machine works, it is not necessary to when serving mechanism works, motor 17 can be closed；When need not pick up the work of ball machine structure, displacement transducer 1 can be closed, ball controller 14 is picked up；If desired tennis training machine remains stationary, can close power supply 7.When tennis training machine picks up ball, service, when automatically picking up balls mechanism works, ball mouth 5 transfers power to road wheel 11 towards striker, power supply 7 by live axle 10, and road wheel 11 drives the motion of tennis training machine.The object of surrounding is input in real time and picks up ball controller 14 by photographic head 2, when picking up ball controller 14 and detecting the object of tennis size shape, by signal by being wirelessly transmitted to traveling controller 8, displacement transducer 1；Traveling controller 8 drives tennis training machine to drive towards the tennis away from its nearest neighbours；Displacement transducer 1 navigates to the exact position for picking up the tennis detected by ball controller 14, then signal is fed back to picks up ball controller 14, picks up ball controller 14 and drives mechanical arm 13 and mechanical hand 12 that tennis is picked up and sent in collection ball basket 3.When automatic pitching machine structure works, motor 17 drives upper friction pulley 4 and lower friction pulley 6 to do reverse motions by belt 16, in collecting the gap that the tennis in ball basket 3 is entered between upper friction pulley 4 and lower friction pulley 6 along conveyance conduit 15（Gap is slightly less than tennis diameter）, tennis is projected at a high speed under the high-speed extrusion of upper friction pulley 4 and lower friction pulley 6 from ball mouth 5, by adjusting the speed that the rotating speed of upper friction pulley 4 and lower friction pulley 6 is that scalable tennis is projected.Because tennis training machine is served a ball in random picking up in ball motor process, so tennis landing after position, upspring after angle, upspring after speed be all irregular, this just increased challenge to athletic training, can to the full extent improve athletic professional standards.Because tennis training machine can pick up ball while serving a ball, thus it is not used in individually being separated during training the time and adds tennis in collection ball basket 3, or first collect the tennis for being scattered in each corner of tennis court, so as to increased the efficiency of training.
Above content be combine specific preferred implementation further description made for the present invention, it is impossible to assert the present invention be embodied as be confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, should all be considered as belonging to protection scope of the present invention.
Claims (5)
1. the tennis training machine that service is picked up, including frame are integrated（9）, it is characterised in that：Described frame（9）Front end is fixedly installed picks up ball controller（14）, photographic head（2）, described picks up ball controller（14）With mechanical arm（13）It is connected, described mechanical arm（13）By displacement transducer（1）With mechanical hand（12）It is connected；Described displacement transducer（1）, photographic head（2）By wirelessly with described picking up ball controller respectively（14）It is connected；Described frame（9）Upper end is provided with collection ball basket（3）, collect ball basket（3）Lower end is fixed on conveyance conduit（15）；Described conveyance conduit（15）Left end is provided with the serving mechanism being matched therewith；Described frame（9）Bottom is provided with walking actuating unit, described walking actuating unit with pick up ball controller（14）By wireless connection.
2. the tennis training machine that service is picked up is integrated as claimed in claim 1, it is characterised in that：Described serving mechanism includes motor（17）, belt（16）, upper friction pulley（4）, lower friction pulley（6）, ball mouth（5）；Described motor（17）By belt（16）Friction pulley in driving（4）With lower friction pulley（6）Rotate；Described upper friction pulley（4）With lower friction pulley（6）Rotation direction is contrary；Described upper friction pulley（4）With lower friction pulley（6）Between minimum distance be 6 cm, its left end is provided with ball mouth（5）.
3. the tennis training machine that service is picked up is integrated as claimed in claim 1, it is characterised in that：Described walking actuating unit includes power supply（7）, road wheel（11）, live axle（10）, traveling controller（8）；Described power supply（7）To road wheel（11）With traveling controller（8）Power is provided；Described traveling controller（8）It is arranged on live axle（10）On；Described traveling controller（8）By wirelessly with pick up ball controller（14）Connection.
4. the tennis training machine that service is picked up is integrated as claimed in claim 1, it is characterised in that：Described mechanical arm（13）Each joint can 360 rotations.
5. the tennis training machine that service is picked up is integrated as claimed in claim 1, it is characterised in that：Described conveyance conduit（15）For smooth glass pipeline, a diameter of 7.5-9 cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510759026.9A CN106669132A (en) | 2015-11-10 | 2015-11-10 | Tennis training machine integrating ball serving and picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510759026.9A CN106669132A (en) | 2015-11-10 | 2015-11-10 | Tennis training machine integrating ball serving and picking |
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| Publication Number | Publication Date |
|---|---|
| CN106669132A true CN106669132A (en) | 2017-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510759026.9A Withdrawn CN106669132A (en) | 2015-11-10 | 2015-11-10 | Tennis training machine integrating ball serving and picking |
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| CN (1) | CN106669132A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108225707A (en) * | 2017-12-12 | 2018-06-29 | 山东大学 | The emitter and method of geotechnical engineering side slope rockfall field test |
| CN108854017A (en) * | 2018-06-30 | 2018-11-23 | 重庆交通大学 | Tennis hair picks up integrated robot |
| CN111939543A (en) * | 2019-05-17 | 2020-11-17 | 浙江深酷机器人有限公司 | Tennis ball circulating system for tennis court |
| CN112891873A (en) * | 2021-01-22 | 2021-06-04 | 南阳师范学院 | Tennis ball serving and picking integrated machine |
-
2015
- 2015-11-10 CN CN201510759026.9A patent/CN106669132A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108225707A (en) * | 2017-12-12 | 2018-06-29 | 山东大学 | The emitter and method of geotechnical engineering side slope rockfall field test |
| CN108854017A (en) * | 2018-06-30 | 2018-11-23 | 重庆交通大学 | Tennis hair picks up integrated robot |
| CN111939543A (en) * | 2019-05-17 | 2020-11-17 | 浙江深酷机器人有限公司 | Tennis ball circulating system for tennis court |
| CN112891873A (en) * | 2021-01-22 | 2021-06-04 | 南阳师范学院 | Tennis ball serving and picking integrated machine |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170517 |
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| WW01 | Invention patent application withdrawn after publication |