CN108543295A - A kind of intelligent ball serving device suitable for tennis - Google Patents

A kind of intelligent ball serving device suitable for tennis Download PDF

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Publication number
CN108543295A
CN108543295A CN201810389165.0A CN201810389165A CN108543295A CN 108543295 A CN108543295 A CN 108543295A CN 201810389165 A CN201810389165 A CN 201810389165A CN 108543295 A CN108543295 A CN 108543295A
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CN
China
Prior art keywords
tennis
ball
shaft
serving
motor
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Granted
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CN201810389165.0A
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Chinese (zh)
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CN108543295B (en
Inventor
王亮
王晓光
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Huainan Normal University
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Huainan Normal University
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Publication of CN108543295A publication Critical patent/CN108543295A/en
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    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/38Training appliances or apparatus for special sports for tennis
    • A63B69/385Training appliances or apparatus for special sports for tennis for practising the serve
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/40Stationarily-arranged devices for projecting balls or other bodies
    • A63B69/409Stationarily-arranged devices for projecting balls or other bodies with pneumatic ball- or body-propelling means

Abstract

The invention belongs to sports equipment fields, disclose particularly a kind of intelligent ball serving device suitable for tennis, including pedestal, serving mechanism, service driving mechanism, ball conveying mechanism, connecting shaft, luffing mechanism and control device.Connecting shaft includes the 1st connecting shaft and the 2nd connecting shaft, and the 2nd connecting shaft is in hollow cylindrical shape.Serving mechanism is connected by the left and right supporting rack of connecting shaft and pedestal, the output end of the pipe of losing of ball conveying mechanism configuration is connected to the one end of the 2nd connecting shaft, it is rolled into the transmitting cylinder of serving mechanism suitable for tennis cunning, the tennis emitted in cylinder is accelerated and emitted by the distance rod for driving mechanism of serving a ball.The output shaft of luffing mechanism connect axis connection with the 1st, to adjust longitudinal launch angle of tennis.Control device manipulates ball serving device and adjusts tennis in launch angle and emission rate longitudinally, laterally, and the launch angle range of tennis is wide, and serving way is complicated, and training difficulty is big, meets the training demand of different levels personnel.

Description

A kind of intelligent ball serving device suitable for tennis
Technical field
The present invention relates to a kind of tennis service device more particularly to a kind of intelligent ball serving device suitable for tennis training, Belong to sports equipment field.
Background technology
Tennis service device automatically emits tennis, practices using for trainer, coach can be replaced to feed ball, will trained It is freed from dull uninteresting feeding in ball.By tennis service device, trainer need not train training mate, although can be anti- Multiple, multi-angle acquisition breaktest, but the tennis that existing tennis service device is emitted is in the angle of departure laterally, longitudinal Degree narrow range, firing altitude is limited, sphere path curve is with low uncertainty, and drop point site is single, training difficulty is low, can not obtain varied Tennis hitting drill, cannot meet the training demand of different levels personnel, need manual adjustment serving way during use, Intelligent level is relatively low.
Invention content
For problems of the prior art, the present invention provides a kind of intelligent ball serving device suitable for tennis, service Device automatically adjusts tennis in lateral launch angle, launch angle and emission rate in longitudinal direction, and radiation pattern variation is more End, overcomes above-mentioned defect existing in the prior art, is adapted to the training demand of different levels personnel.
Technical scheme of the present invention provides a kind of intelligent ball serving device suitable for tennis, and designing points are, institute Stating ball serving device includes:
Pedestal is the carrying basis of ball serving device;Pedestal is at least by support base, drive shaft, pedestal frame body and the 1st motor It constitutes;Support base include disc base in the form of annular discs, be arranged above disc base and with the disc base or so two-phase To the fixed left support frame of avris and right support frame, drive shaft be arranged the lower section of disc base and with disc base it is perpendicular And it is fixed;Support base is assemblied on pedestal frame body, passes through drive shaft and pedestal frame body axis connection;The output shaft of 1st motor with Drive shaft axis connection, to drive support base to be rotated around drive shaft relative to pedestal frame body, to adjust tennis in lateral hair Firing angle degree;
Serving mechanism is suitable for tennis and emits;Serving mechanism is at least by the closed transmitting cylinder in one end, push the ball piston and piston Push rod is constituted;The one end of piston push rod extend into transmitting cylinder and justifies with positioned at transmitting through the blind end of transmitting cylinder Piston of pushing the ball in cylinder is fixed, and the other end is located at the outside of blind end;Emit setting on the side wall of cylinder and is suitable for tennis input Enter ball;
Serve a ball driving mechanism, suitable for pushing tennis to accelerate and emit, service driving mechanism include emit cylinder body, distance rod, 1st coil, the 2nd coil and permanent magnet;The one end of distance rod extend into the interior of transmitting cylinder body through one end of transmitting cylinder body Portion, and fixed with the permanent magnet positioned at transmitting cylinder body;1st coil, the 2nd coil respectively be embedded in and be fixed in transmission cylinder body two End side extends and retracts movement suitable for driving thrus bar;Permanent magnet and the 1st coil, the 2nd Coil Coaxial line coordinate;Service is driven The other end of the distance rod of motivation structure is fixedly connected with the other end of piston push rod, is suitable for pushing in transmitting cylinder Tennis accelerates and emits;
Connecting shaft is connect suitable for serving mechanism with pedestal, and connecting shaft includes the 1st connecting shaft and the 2nd connecting shaft, the 2nd connection Axis is hollow cylinder-like structure;The left side side of 1st connecting shaft and transmitting cylinder is fixed, the right side of the 2nd connecting shaft and transmitting cylinder Avris is fixed, the 1st connecting shaft, the 2nd connecting shaft coaxial line cooperation, with transmitting cylinder axis perpendicular, the 2nd connecting shaft be located at Transmitting cylinder enters ball connection;
Ball conveying mechanism, suitable for storing and conveying tennis, the output end of the pipe of losing of ball conveying mechanism configuration is connect with the 2nd The right part of axis is connected to, and activity cooperation, the 2nd connecting shaft are rotatable relative to the output end for pipe of losing;
Luffing mechanism is suitable for adjusting tennis in longitudinal launch angle, the 2nd motor of luffing mechanism and the 1st connecting shaft axis Connection is to drive serving mechanism to be rotated around connecting shaft;
Control device is suitable for manipulating the transmitting of tennis;Control device is suitable for manipulating the driving support base rotation of the 1st motor, with Tennis is adjusted in lateral launch angle;Suitable for manipulating the driving serving mechanism rotation of the 2nd motor, to adjust tennis in longitudinal hair Firing angle degree, and manipulate service driving mechanism and change thrust output to adjust the emission rate of tennis.
During practicing, the present invention also has optional technical solution further below.
Optionally, the serving mechanism further includes block mechanism and the resetting spring being arranged in transmitting cylinder, gear Ball machine structure mainly by middle part be arranged through-hole disk of blocking in the form of annular discs, be fixed on block face left avris slide bar, be fixed on gear The bar of side on the right of ball disk, piston push rod run through the through-hole for disk of blocking and are slidably matched, slide bar and the sliding slot positioned at transmitting cylinder It is slidably matched, mechanism is blocked only along the freedom of motion of piston push rod axial direction to limit;Piston of pushing the ball is located at slide bar and bar Between.
Optionally, the ball conveying mechanism includes the ball bucket for being suitable for storing tennis, dials ball disk, lose pipe and the 3rd electricity The input terminal of machine, pipe of losing is connected to the bottom of ball bucket, and output end is connected to the right part of the 2nd connecting shaft;Dial the circle of ball disk Multiple group ball pawls extended radially outward are set on week, and group ball pawl, which stretches into, loses in pipe, is slided along pipe of losing suitable for pushing tennis Rolling, the output shaft of the 3rd motor are connect with ball dish axle is dialled.
Optionally, the ball serving device further includes pressure sensor, and pressure sensor is assemblied in the gear for the mechanism that blocks The end of bar 242;When pressure sensor feedback is when being pressed into value more than preset pressure threshold, the 3rd motor of manipulation stops, otherwise Manipulate the rotation of the 3rd motor.
Optionally, the surface difference of the inner surface of the 2nd connecting shaft, the inner surface for emitting cylinder, piston of pushing the ball Apply one layer of teflon coatings.
Optionally, the 1st connecting shaft is fixed by the top end part of bearing, bearing block and left support frame;Described 2nd Connecting shaft is fixed by the top end part of bearing, bearing block and right support frame.
Optionally, the luffing mechanism further includes speed reducer, and the output shaft of the 2nd motor is connect through speed reducer with the 1st Axis axis connection.
Optionally, the output shaft of the 2nd motor and the input between centers of speed reducer pass through chain-wheel mechanism or gear mechanism Structure connects.
Optionally, the 1st motor, the 2nd motor, the 3rd motor are stepper motor.
Optionally, the ball serving device further includes wheel, and the wheel is at least by being arranged the avris after pedestal frame body The 1st wheel, the 2nd wheel and be arranged the 3rd wheel of the avris before pedestal frame body, the 4th wheel constitute.
Compared with prior art, beneficial effects of the present invention are:1st motor drives the support base deflection of pedestal, changes The direction of the launch of tennis, to adjust tennis in lateral launch angle, lateral launch angle be to directly to the left, Xiang Zhengqian, To unspecified angle between directly to the right, i.e., in -90 degree to arbitrarily adjusting between 90 degree;2nd motor drives serving mechanism around connection shaft rotation It is dynamic, change the transmitting inclination angle of tennis, to adjust tennis in longitudinal launch angle, longitudinal launch angle from it is horizontal forward to Unspecified angle between vertically upward is adjustable, i.e., is arbitrarily adjusted between 0-90 degree;Change the exciting current size of service driving mechanism Change the power output of service driving mechanism to adjust the emission rate of tennis.Thus, control device generates corresponding control signal Manipulate the 1st motor, the 2nd motor action adjusts tennis in launch angle longitudinal, in transverse direction, launch angle 0- of the tennis in longitudinal direction 90 degree of ranges are arbitrarily adjusted, are arbitrarily adjusted in lateral launch angle -90-90 degree range, and launch angle is without limitation so that service The launch angle for the tennis that device is emitted, speed, pick-up point is changeable, has randomness, preferably simulates true service Mode, training difficulty is larger, meets different levels, the training demand of different personnel.
Description of the drawings
The schematic diagram of Fig. 1, a kind of intelligent ball serving device suitable for tennis.
Fig. 2, for the left view schematic diagram of the ball serving device in Fig. 1.
Fig. 3, for serving mechanism in Fig. 2 with service driving mechanism schematic diagram.
Fig. 4, for another structural schematic diagram of serving mechanism in Fig. 3.
The schematic top plan view of Fig. 5, pedestal.
The schematic diagram of Fig. 6, pedestal frame body and wheel.
The control principle connection block diagram of Fig. 7, control device.
Wherein, 10- pedestals, 11- support bases, 111- disc bases, 112- left support frames, 113- right support frames, 12- drivings Shaft, 13- pedestal frame bodies, the 1st motors of 14-, 15- thrust bearings, 16- wheels, the 1st wheels of 161-, the 2nd wheels of 162-, 163- 3rd wheel, the 4th wheels of 164-, 20- serving mechanisms, 21- emit cylinder, and 211- enters ball, and 22- pushes the ball piston, and 23- pistons push away Bar, 24- block mechanism, 241- slide bars, 242- bars, 25 springs, and 30- serves a ball driving mechanism, and 31- emits cylinder body, 32- thrusts Bar, the 1st coils of 33-, the 2nd coils of 34-, 35- permanent magnets, 40- connecting shafts, the 1st connecting shafts of 41-, 42 the 2nd connecting shafts, 50- balls are defeated Send mechanism, 51- ball buckets, 52- dials ball disks, and 53- loses pipe, the 3rd motors of 54-, 60- luffing mechanisms, the 2nd motors of 61-, and 62- slows down Machine, 70- pressure sensors, 80- control devices.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.
As one embodiment of the present invention, a kind of intelligent ball serving device suitable for tennis, as shown in figs 1 to 6, The ball serving device includes pedestal 10, serving mechanism 20, service driving mechanism 30, connecting shaft 40, ball conveying mechanism 50, pitching machine Structure 60, pressure sensor 70 and control device 80.The pedestal 10 includes support base 11, pedestal frame body 13 and the 1st motor 14, branch Support two relative edge side of the left and right setting left support frame 112 and right support frame 113 of seat 11.Support base 11 is assemblied in pedestal frame body 13 On, support base 11 drives support base by 13 axis connection of drive shaft 12 and pedestal frame body, the 1st motor 14 by drive shaft 12 11 rotational deflections, to adjust tennis in lateral launch angle.Connecting shaft 40 includes the 1st connecting shaft 41 and the 2nd connecting shaft 42, the 2 connecting shafts 42 are hollow cylinder-like structure.Serving mechanism 20 includes the closed transmitting cylinder 21 in one end, push the ball piston 22 and work Fill in push rod 23.The one end of piston push rod 23 and the fixation of piston 22 of pushing the ball in transmitting cylinder 21, the other end is through envelope Closed end simultaneously stretches out.Serving mechanism 20 by the 1st connecting shaft 41, the 2nd connecting shaft 42 successively with left support frame 112, right support frame 113 Axis connection.The left part of 2nd connecting shaft 42 is connected to the ball 211 that enters on transmitting cylinder 21.The thrust for driving mechanism 30 of serving a ball Bar 32 is fixedly connected with the other end of piston push rod 23, is suitable for pushing the tennis in transmitting cylinder 21 to accelerate concurrent It penetrates.The output end for the pipe 53 of losing that ball conveying mechanism 50 configures is connected with the right part of the 2nd connecting shaft 42, as shown in Figure 3. The 2nd motor 61 and 41 axis connection of the 1st connecting shaft that luffing mechanism 60 configures, suitable for driving serving mechanism 20 around 40 turns of connecting shaft It is dynamic, to adjust tennis in longitudinal launch angle.The right end of lose pipe 53 of the tennis through ball conveying mechanism 50, the 2nd connecting shaft 42 Portion moves to the left part of the 2nd connecting shaft 42, enters in transmitting cylinder 21 through entering ball 211, and positioned at the envelope of transmitting cylinder 21 The distance rod 32 of closed end side, service driving mechanism 30 stretches out, and pushes tennis to accelerate tennis, in the stroke of the distance rod 32 Tennis is launched in end, realizes the transmitting of tennis.Control device 80 manipulate the 1st motor 14 driving support base 11 rotation to It adjusts tennis and adjusts tennis in longitudinal angle of departure in lateral launch angle, manipulation the 2nd motor 61 drive rotation of serving mechanism 20 Degree manipulates the exciting current size of service driving mechanism to adjust the emission rate of tennis, and tennis is in longitudinal launch angle 0- 90 degree of ranges are arbitrarily adjusted, are arbitrarily adjusted in lateral launch angle -90-90 degree range, and the launch angle of tennis is wide, unlimited System so that the launch angle for the tennis that ball serving device is emitted, speed, pick-up point are changeable, have randomness, preferably simulate True serving way, training difficulty is larger, meets different levels, the training demand of different personnel.
Wherein, the pedestal 10 is the carrying basis of ball serving device, is suitable for adjusting tennis in lateral launch angle.Institute Pedestal 10 is stated, as shown in Fig. 2, Fig. 5, at least by support base 11, drive shaft 12, pedestal frame body 13, the 1st motor 14, thrust axis Hold 15 and the composition of wheel 16.Two supporting racks that support base 11 includes disc base 111 in the form of annular discs, uprightly arranges, such as Fig. 2 institutes Show, the bottom end of two supporting rack is fixed with two relative edge side of the left and right of disc base 111 respectively, is located at as shown in figure 5, constituting The left support frame 112 of left side side and right support frame 113 positioned at the right side, for carrying serving mechanism 20.Drive shaft 12 is straight It erects and sets, the upper end of drive shaft 12 and the central part of disc base 111 are fixed, and the lower section of disc base 111, driving are located at Shaft 12 and 111 perpendicular cooperation of disc base.The bottom face of support base 11 is affixed by thrust bearing 15 and pedestal frame body 13 It closes, that is, the top end face of the bottom face of support base 11, thrust bearing 15, pedestal frame body 13 is bonded successively, carries support base 11, Drive shaft 12 is mutually assembled with pedestal frame body 13 and axis connection assembly is fixed.Thrust bearing 15 to reduce support base 11 relative to The resistance that pedestal frame body 13 rotates.The output shaft of 1st motor 14 passes through the 1st speed reducer and 12 axis connection of drive shaft, driving branch It supports seat 11 to rotate around drive shaft 12 relative to pedestal frame body 13, so that support base 11 is deflected to the left, to the right, to adjust tennis in cross To launch angle.It chooses perpendicular straight in terms of level with the preceding avris (upper avris shown in fig. 5) of pedestal frame body 13 Line is to locate, it is specified that when the left support frame 112 (or right support frame 113) of support base 11 is with reference to straight line parallel with reference to straight line In reset state, then the lateral angle of departure is 0 degree, is emitted to front;Lateral hair is provided when support base 11 deflects to the left Firing angle degree is negative, and when left support frame 112 is vertical with reference to straight line, the lateral angle of departure is -90 degree;When support base 11 is to right avertence Provide that lateral launch angle is that just, when left support frame 112 is vertical with reference to straight line, the lateral angle of departure is 90 degree when turning. It is continuously adjusted that is, tennis is spent -90 within the scope of 90 degree in lateral launch angle, wherein -90 degree, 90 degree of corresponding nets Ball is then served a ball laterally along showing to positive left, directly to the right direction transmitting, such as Fig. 5 to front-left to transmitting, to front-right to transmitting Device has any lateral angle of departure for laterally emitting angle, can spending to 90 with -90 in the horizontal direction of extensive angle.
The quantity of the wheel 16 is 4, as shown in fig. 6, including the 1st wheel 161, the 2nd wheel 162, the 3rd wheel 163 With the 4th wheel 164.The rear avris (lower section of Fig. 6) in pedestal frame body 13 is arranged in 1st wheel 161, is located at left side;2nd wheel 162 are arranged the rear avris in pedestal frame body 13, are located at right side;3rd wheel 163 be arranged pedestal frame body 13 preceding avris (Fig. 6's Top), it is located at left side;The preceding avris in pedestal frame body 13 is arranged in 4th wheel 164, is located at right side.The tennis of ball serving device emits Avris is interpreted as the preceding avris of the preceding avris of ball serving device, i.e., avris opposite with user and pedestal frame body 13.
Wherein, the serving mechanism 20 is suitable for tennis and emits.Serving mechanism 20, as shown in Figure 3, Figure 4, at least by emitting Cylinder 21, push the ball piston 22 and the composition of piston push rod 23.Emit the one end closing of cylinder 21, as shown in figure 3, i.e. transmitting cylinder 21 lower end closing.The one end of piston push rod 23 being located above and the piston 22 of pushing the ball in transmitting cylinder 21 are solid It is fixed, as shown in figure 3, blind end of the underlying the other end through transmitting cylinder 21, and stretched out through the blind end, it is located at hair Penetrate the lower section of cylinder 21.Emit setting on the side wall of cylinder 21 and enter ball 211 suitable for tennis input, as shown in figure 3, service is driven Motivation structure 30 coordinates with 20 coaxial line of serving mechanism, and the upper end and the lower end of transmitting cylinder 21 for emitting cylinder body 31 are fixed, and are served a ball The distance rod 32 of driving mechanism 30 is fixedly connected with the one end for being located at 21 lower section of transmitting cylinder of piston push rod 23.Distance rod 32 Suitable for pushing the tennis in transmitting cylinder 21 to accelerate and emitting.
Wherein, the service driving mechanism 30, suitable for pushing the ball, tennis accelerates, and obtains at high speed, and at the end of the stroke by net Ball is launched.Service driving mechanism 30, as shown in figure 3, including transmitting cylinder body 31, distance rod 32, the 1st coil 33, the 2nd coil 34 and permanent magnet 35.1st coil 33 and the 2nd coil 34, generate magnetic field force stretched to driving thrus bar 32, movement of contracting, outward Thrust output accelerates tennis, and tennis is made to obtain higher speed, and the transmitting cylinder 21 that flies out realizes transmitting.1st coil, 33 He 2nd coil 34 is fixed in transmitting cylinder body 31, is located at the both ends of transmitting cylinder body 31.The one end of distance rod 32 stretches into transmitting cylinder body In 31, and fixed with the permanent magnet 35 in transmitting cylinder body 31.Permanent magnet 35 and the 1st coil 33 and 34 coaxial line of the 2nd coil, And in the 1st coil 33 and the 2nd coil 34.Under the effect of the excitation of the 1st coil 33 and the 2nd coil 34, permanent magnet 35 drives Distance rod 32 is made to stretch out movement, and tennis is accelerated and emitted.
Wherein, the connecting shaft 40 is suitable for serving mechanism 20 and pedestal 10 and assembles, and opposite pedestal 10 is around 40 turns of connecting shaft It is dynamic.Connecting shaft 40, as shown in Fig. 2, including the 1st connecting shaft 41, the 2nd connecting shaft 42.The middle part of 2nd connecting shaft 42 is arranged along its axis The through-hole for being suitable for tennis and sliding rolling that line extends, that is to say, that the 2nd connecting shaft 42 is in hollow cylinder-like structure, is suitable for tennis and passes through 2nd connecting shaft 42 is transported in transmitting cylinder 21.
As further technical solution, the serving mechanism 20, as shown in figure 3, further including that setting is emitting cylinder 21 Interior block mechanism 24 and resetting spring 25.The mechanism that blocks 24 is mainly arranged the disk of blocking of through-hole by middle part, is fixed on disk of blocking The slide bar 241 of left side side, the bar 242 for being fixed on side on the right of disk of blocking are set as shown in figure 4, slide bar 241 is opposite with bar 242 It sets, is upwardly extended by the top end face for disk of blocking, positioned at the top for disk of blocking.Piston push rod 23 runs through the through-hole for disk of blocking and sliding Cooperation, slide bar 241 are slidably matched with the sliding slot positioned at transmitting cylinder 21, and mechanism 24 is blocked only along 23 axis of piston push rod to limit To the freedom of motion in direction.Piston of pushing the ball is between slide bar 241 and bar 242.Resetting spring 25 is arranged in piston of pushing the ball Between 22 and the blind end of transmitting cylinder 21, it is in compressive state.When piston push rod 23 stretches out, in the effect of resetting spring 25 Under, the mechanism that blocks 24 and piston push rod 23 move in the same direction, as shown in figure 4, move upwards, the mechanism that blocks 24 is by next tennis Gear avoids tennis from entering in transmitting cylinder 21, friction occurs with piston push rod 23 and causes net in the left part of the 2nd connecting shaft 42 The abrasion of ball, and influence the transmitting of tennis.
As an improvement scheme, the inner wall surface of the 2nd connecting shaft 42, the inner surface for pipe 53 of losing apply respectively One layer of Teflon (i.e. polytetrafluoroethylene (PTFE)) coating is applied, advantageous reduction tennis slides rolling resistance, and so that tennis is slided, rolling is more smooth, and raising is sent out Ball efficiency.One layer of teflon coatings are respectively applied in the inner wall surface of the transmitting cylinder 21, the outer surface for piston 22 of pushing the ball, favorably It is succeeded in sending up in tennis, reduces the energy loss during tennis accelerates to emit, make tennis that there is higher emission rate, be interpreted as The linear velocity of tennis.
As a preferred solution, the pressure sensor 70 is assemblied in the end of the bar 242 for the mechanism 24 that blocks, such as Shown in Fig. 4, for detecting whether the tennis in the 2nd connecting shaft 42 is crowded with.When the pressure value that pressure sensor 70 is fed back is more than in advance If pressure threshold when, show to be crowded with tennis in the 2nd connecting shaft 42, need at this time manipulate the 3rd motor stop, otherwise manipulate the 3rd Motor rotates, until being crowded with tennises in the 2nd connecting shaft 42.
Wherein, the ball conveying mechanism 50, suitable for storing and conveying tennis.Ball conveying mechanism 50, as shown in Fig. 2, including Ball bucket 51 dials ball disk 52, lose pipe 53 and the 3rd motor 54.Ball bucket 51 is to store tennis, and as shown in Figure 1 and Figure 2, ball bucket 51 is set It sets in the lower section of serving mechanism, between left support frame 112 and right support frame 113.Pipe 53 of losing is arranged along vertical direction, defeated The input end of bulb 53 is connected with the bottom of ball bucket 51, and output end is connected with the right part of the 2nd connecting shaft 42, is suitable for Tennis is conveyed into the 2nd connecting shaft 42, i.e., by the tennis in ball bucket 51 through pipe 53 of losing, the 2nd connecting shaft 42, enter 211 quilt of ball It is transported in transmitting cylinder 21, and positioned at the closing end side of transmitting cylinder 21, with to be launched.It is set on the circumference of described group of ball disk 52 Multiple group ball pawls extended radially outward are set, the part surface of tennis can be accommodated between two adjacent group ball pawls.Dial ball disk 52 With 53 phase of pipe assembly of losing, the ball pawl of dialling for dialling ball disk 52 extend into the losing in pipe of the phase load segment, is suitable for pushing tennis along defeated Bulb slides rolling, so that tennis is rolled along pipe 53 of losing is sliding from bottom to top, and roll into transmitting through pipe 53 of losing, the 2nd connecting shaft 42 cunning In cylinder 21.The input shaft axis connection of the output shaft and the 2nd speed reducer of 3rd motor, the output shaft of the 2nd speed reducer and group ball disk 52 Phase axis connection dials ball disk 52 with driving and rotates pushing tennis along pipe cunning rolling of losing.
Wherein, the luffing mechanism 60 is suitable for adjusting tennis in longitudinal launch angle.Luffing mechanism 60 includes the 2nd electricity Machine 61 and speed reducer 62.The output shaft of 2nd motor 61 and the input shaft axis connection of speed reducer 62, the output shaft of speed reducer 62 and the 1 connecting shaft axis connection.2nd motor 61 is to drive serving mechanism 20 to be rotated around connecting shaft 40, and adjustment tennis is in longitudinal transmitting Angle.Further, the input between centers of the output shaft of the 2nd motor and speed reducer is connected by chain-wheel mechanism or gear mechanism.
Wherein, the control device 80 is suitable for manipulation ball serving device and adjusts serving way, such as adjusts the transmitting speed of tennis It spends, laterally emit angle, longitudinal launch angle.Control device 80, as shown in fig. 7, comprises microprocessor and with the microprocessor The 1st motor drive module, the 2nd motor drive module, the 3rd motor drive module, service drive module and the network mould of electrical connection Block.Drive module of serving a ball is constituted for current control circuit, is suitable for generating the exciting current for coil magnetization, manipulates service driving Tennis is accelerated and is emitted by mechanism action, and adjusts the size of exciting current to adjust the power output (/ work(of service driving mechanism Rate), to adjust the emission rate of tennis.1st motor 14 is stepper motor, and the 1st motor 14 passes through the 1st stepping (motor) driver It is electrically connected with the 1st motor drive module of control device 80, the 2nd motor 62 is stepper motor, and the 2nd motor 62 passes through the 2nd Stepping (motor) driver is electrically connected with the 2nd motor drive module of control device 80, and the 3rd motor 54 is stepper motor, the 3rd electricity Machine 54 is electrically connected by the 3rd stepping (motor) driver with the 3rd motor drive module of control device 80.Serve a ball driving mechanism with The service drive module of control device 80 is electrically connected.The hardware configuration of control device 80 is the prior art, can be by monolithic mechanism At can also be made of PLC, this will not be detailed here.
The operation principle of the ball serving device of present embodiment:Tennis slides the input end for being rolled into pipe 53 of losing from ball bucket 51, 52 pushing of ball disk is dialled, sliding rolling, cunning are rolled into the 2nd connecting shaft 42 tennis from bottom to top along pipe 53 of losing, and rolling is slided through entering ball 211 Into transmitting cylinder 21, and positioned at the closing end side of transmitting cylinder 21;When tennis cunning is rolled into transmitting cylinder 21, service driving Mechanism is manipulated acting, and the distance rod 32 for driving mechanism of serving a ball stretches out, and the tennis in transmitting cylinder 21 is pushed and is accelerated, net Ball obtains higher speed, and in the end of travel of distance rod 32, tennis high-speed motion and the transmitting cylinder 21 that flies out realize tennis Transmitting, completes the primary transmitting of tennis.At the same time, under the action of resetting spring 25, the mechanism that blocks 24 and piston push rod 23 Movement in the same direction, as shown in figure 4, moving upwards, the mechanism that blocks 24 keeps off next tennis in the left part of the 2nd connecting shaft 42, It avoids tennis from entering in transmitting cylinder 21, the abrasion for rubbing and causing tennis occurs with piston push rod 23.Tennis squeeze pressure passes Sensor 70 manipulates the 3rd motor 54 and stops when the pressure value that pressure sensor 70 is fed back is more than preset pressure threshold.Then, Service driving mechanism is manipulated acting, and the distance rod 32 for driving mechanism of serving a ball, which is retracted, to be resetted, under the active force for piston of pushing the ball, gear Ball machine structure 24 to transmitting cylinder the precession of closing end, compression reseting spring 52, when block 24 movement travel end of mechanism when, pressure The pressure value that force snesor 70 is fed back is 0, then manipulates the 3rd motor 54 driving group ball disk 52 and rotate, dial 52 pushing tennis edge of ball disk Pipe of losing slides the diameter length of one tennis of rolling, and stops.Another tennis cunning is rolled into the transmitting cylinder 21 of serving mechanism 20, Service driving mechanism is manipulated again another tennis is accelerated and emitted, repeatedly, continuously emit tennis.Manipulate service driving Module changes the size of output exciting current, changes the power output of service driving mechanism, to adjust the exit velocities of tennis transmitting. It manipulates the driving rotation of serving mechanism 20 of the 2nd motor 61 and adjusts tennis in longitudinal launch angle, tennis is in longitudinal launch angle 0-90 degree is freely adjusted, wherein 0 degree of corresponding tennis emits forward in the horizontal direction, that is, emits the launch network in the horizontal direction of cylinder 21 Ball, 90 degree of corresponding tennises vertically emit upwards, that is, emit cylinder 21 and vertically emit tennis upwards.Manipulate the 1st Motor 14 drives the rotation of support base 11 to adjust tennis in lateral launch angle, and tennis is in lateral launch angle -90-90 degree Range is arbitrarily adjusted, wherein -90,90 degree correspond to tennis and emit to the left, to the right respectively, that is, is emitted cylinder 21 and is emitted to the left, to the right Tennis.So the launch angle of tennis is without limitation so that the launch angle for the tennis that ball serving device is emitted, speed, pick-up point It is changeable, there is randomness, preferably simulate true serving way, training difficulty is larger, meets different levels, different people The training demand of member.According further to demand, the 1st motor 14 driving support base 11 can also be manipulated with respect to pedestal frame body 13 around driving Shaft 12 rotates within the scope of 0-360 degree, that is, rotates one week, and tennis can to all the winds emit laterally, may be implemented one Platform ball serving device adapts to more people and is carried out at the same time training.Control device manipulates ball serving device, adjusts the emission rate of tennis, adjusts hair Ball mode, tennis realize freely continuously adjustable, the angle of departure of tennis in longitudinal launch angle, in lateral launch angle Degree range is wide, and the angle of departure is wide, random to change, and firing altitude variation is various, sphere path curve is changeable, and drop point site is distributed at random, training Difficulty is big.Ball serving device realizes that tennis is landed with different launch angle transmittings, in different places, preferably simulates true Serving way, training difficulty it is larger, meet different levels, the training demand of different personnel.
Compared with prior art, the present invention has following significant technological progress.
1st motor drives the support base deflection of pedestal, changes the direction of the launch of tennis, to adjust tennis in lateral hair Firing angle degree, lateral launch angle be to directly to the left, Xiang Zhengqian, to unspecified angle between directly to the right, i.e., -90 degree to 90 degree it Between arbitrarily adjust;2nd motor drives serving mechanism to be rotated around connecting shaft, changes the transmitting inclination angle of tennis, is existed with adjusting tennis Longitudinal launch angle, longitudinal launch angle is from horizontal forward adjustable to the unspecified angle vertically upward, i.e., in 0-90 degree Between arbitrarily adjust;The exciting current size for changing service driving mechanism changes the power output of service driving mechanism to adjust tennis Emission rate.Thus, control device generates the 1st motor of corresponding control signal manipulation, the 2nd motor action adjusts tennis vertical To, in lateral launch angle, tennis is arbitrarily adjusted, in longitudinal launch angle 0-90 degree range in the launch angle-of transverse direction 90-90 degree ranges are arbitrarily adjusted, and launch angle is without limitation so that the launch angle for the tennis that ball serving device is emitted, is fallen speed Place is changeable, has randomness, preferably simulates true serving way, training difficulty is larger, meets different levels, no With the training demand of personnel.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, the present invention Claimed range is delineated by the appended claims, the specification and equivalents thereof from the appended claims.

Claims (10)

1. a kind of intelligent ball serving device suitable for tennis, which is characterized in that the ball serving device includes:
Pedestal is the carrying basis of ball serving device;Pedestal is at least by support base, drive shaft, pedestal frame body and the 1st motor structure At;Support base include disc base in the form of annular discs, be arranged above disc base and it is opposite with the disc base or so two The fixed left support frame of avris and right support frame, drive shaft be arranged the lower section of disc base and with disc base it is perpendicular simultaneously It is fixed;Support base is assemblied on pedestal frame body, passes through drive shaft and pedestal frame body axis connection;The output shaft of 1st motor and drive Turn axis axis connection, to drive support base to be rotated around drive shaft relative to pedestal frame body, to adjust tennis in lateral transmitting Angle;
Serving mechanism is suitable for tennis and emits;Serving mechanism is at least by the closed transmitting cylinder in one end, push the ball piston and piston push rod It constitutes;The one end of piston push rod through transmitting cylinder blind end, extend into transmitting cylinder in and with positioned at transmitting cylinder in Piston of pushing the ball fix, the other end is located at the outside of blind end;Emit setting on the side wall of cylinder and is suitable for entering for tennis input Ball;
Service driving mechanism, suitable for pushing tennis to accelerate and emitting, service driving mechanism includes transmitting cylinder body, distance rod, the 1st line Circle, the 2nd coil and permanent magnet;The one end of distance rod through transmitting cylinder body one end, extend into transmitting cylinder body inside, and with Permanent magnet positioned at transmitting cylinder body is fixed;Two end sides that 1st coil, the 2nd coil are embedded in and are fixed in transmission cylinder body respectively are fitted Movement is extended and retracted in driving thrus bar;Permanent magnet and the 1st coil, the 2nd Coil Coaxial line coordinate;Driving mechanism of serving a ball The other end of distance rod is fixedly connected with the other end of piston push rod, is suitable for pushing the tennis being located in transmitting cylinder to accelerate And emit;
Connecting shaft is connect suitable for serving mechanism with pedestal, and connecting shaft includes the 1st connecting shaft and the 2nd connecting shaft, and the 2nd connecting shaft is Hollow cylinder-like structure;The left side side of 1st connecting shaft and transmitting cylinder is fixed, the right side of the 2nd connecting shaft and transmitting cylinder It is fixed, the 1st connecting shaft, the cooperation of the 2nd connecting shaft coaxial line, with the axis perpendicular for emitting cylinder, the 2nd connecting shaft and positioned at transmitting Cylinder enters ball connection;
Ball conveying mechanism, suitable for storing and conveying tennis, the output end of the pipe of losing of ball conveying mechanism configuration and the 2nd connecting shaft Right part is connected to, and activity cooperation, the 2nd connecting shaft are rotatable relative to the output end for pipe of losing;
Luffing mechanism is suitable for adjusting tennis in longitudinal launch angle, the 2nd motor of luffing mechanism and the 1st connecting shaft axis connection To drive serving mechanism to be rotated around connecting shaft;
Control device is suitable for manipulating the transmitting of tennis;Control device is suitable for manipulating the driving support base rotation of the 1st motor, to adjust Tennis is in lateral launch angle;Suitable for manipulating the driving serving mechanism rotation of the 2nd motor, to adjust tennis in longitudinal angle of departure Degree, and manipulate service driving mechanism and change thrust output to adjust the emission rate of tennis.
2. the intelligent ball serving device according to claim 1 suitable for tennis, it is characterised in that:The serving mechanism also wraps Block mechanism and the resetting spring being arranged in transmitting cylinder are included, the mechanism that blocks includes the gear in the form of annular discs of middle part setting through-hole Ball disk, be fixed on block face left avris slide bar, be fixed on the bar of the side on the right of disk of blocking, piston push rod runs through the logical of disk of blocking Hole is simultaneously slidably matched, and slide bar is slidably matched with the sliding slot positioned at transmitting cylinder, and mechanism is blocked only along piston push rod axis to limit To freedom of motion;Piston push the ball between slide bar and bar.
3. the intelligent ball serving device according to claim 2 suitable for tennis, it is characterised in that:The ball conveying mechanism packet The ball bucket, group ball disk, lose pipe and the 3rd motor suitable for storing tennis are included, the input terminal for pipe of losing is connected to the bottom of ball bucket, defeated Go out end to be connected to the right part of the 2nd connecting shaft;The multiple group ball pawls extended radially outward provided circumferentially about for dialling ball disk, are dialled Ball pawl, which stretches into, loses in pipe, slides rolling along pipe of losing suitable for pushing tennis, the output shaft of the 3rd motor is connect with ball dish axle is dialled.
4. the intelligent ball serving device according to claim 3 suitable for tennis, it is characterised in that:The ball serving device also wraps Pressure sensor is included, pressure sensor is assemblied in the end of the bar 242 for the mechanism that blocks;It is pressed into value when pressure sensor feedback It when more than preset pressure threshold, manipulates the 3rd motor and stops, otherwise manipulating the rotation of the 3rd motor.
5. the intelligent ball serving device according to claim 1 suitable for tennis, it is characterised in that:2nd connecting shaft Inner surface, emit the inner surface of cylinder, one layer of teflon coatings are respectively applied in the surface for piston of pushing the ball.
6. the intelligent ball serving device according to claim 1 suitable for tennis, it is characterised in that:1st connecting shaft is logical The top end part for crossing bearing, bearing block and left support frame is fixed;2nd connecting shaft passes through bearing, bearing block and right support frame Top end part is fixed.
7. the intelligent ball serving device according to claim 1 suitable for tennis, it is characterised in that:The luffing mechanism also wraps Speed reducer is included, the output shaft of the 2nd motor is through speed reducer and the 1st connecting shaft axis connection.
8. the intelligent ball serving device according to claim 7 suitable for tennis, it is characterised in that:2nd motor it is defeated The input between centers of shaft and speed reducer is connected by chain-wheel mechanism or gear mechanism.
9. the intelligent ball serving device suitable for tennis according to claim 1-8, it is characterised in that:1st motor, 2 motors, the 3rd motor are stepper motor.
10. the intelligent ball serving device according to claim 9 suitable for tennis, it is characterised in that:The ball serving device is also Including wheel, the wheel is at least by being arranged the 1st wheel, the 2nd wheel and setting of the avris after pedestal frame body in pedestal frame The 3rd wheel of avris, the 4th wheel are constituted before body.
CN201810389165.0A 2018-04-26 2018-04-26 Intelligent service device suitable for tennis Active CN108543295B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109999464A (en) * 2019-01-21 2019-07-12 上海理工大学 A kind of personification table tennis robot
CN112044041A (en) * 2020-09-23 2020-12-08 杨志文 Electromagnetic action-based emitter for football skill training

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Publication number Priority date Publication date Assignee Title
CN2595418Y (en) * 2002-11-15 2003-12-31 罗晓林 Ball throwing machine for tennis ball
US20100099520A1 (en) * 2008-10-22 2010-04-22 Auzoux Yann O Ball toss toy
CN203861880U (en) * 2014-04-28 2014-10-08 左秀梅 Ping-pong ball practice device without ping-pong table
CN205340066U (en) * 2016-02-22 2016-06-29 哈尔滨商业大学 Tennis ball pitching machine

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
CN2595418Y (en) * 2002-11-15 2003-12-31 罗晓林 Ball throwing machine for tennis ball
US20100099520A1 (en) * 2008-10-22 2010-04-22 Auzoux Yann O Ball toss toy
CN203861880U (en) * 2014-04-28 2014-10-08 左秀梅 Ping-pong ball practice device without ping-pong table
CN205340066U (en) * 2016-02-22 2016-06-29 哈尔滨商业大学 Tennis ball pitching machine

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109999464A (en) * 2019-01-21 2019-07-12 上海理工大学 A kind of personification table tennis robot
CN112044041A (en) * 2020-09-23 2020-12-08 杨志文 Electromagnetic action-based emitter for football skill training

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