CN108786065B

CN108786065B - Tennis training robot

Info

Publication number: CN108786065B
Application number: CN201810978339.7A
Authority: CN
Inventors: 岳一领; 潘建业; 刘�文; 郭会强
Original assignee: Taiyuan University of Science and Technology
Current assignee: Taiyuan University of Science and Technology
Priority date: 2018-08-27
Filing date: 2018-08-27
Publication date: 2023-09-26
Anticipated expiration: 2038-08-27
Also published as: CN108786065A

Abstract

The invention provides a tennis training robot, belongs to the technical field of tennis training equipment, and mainly solves the problem that the quality of artificial cosmesis in the prior art affects the enthusiasm of a trainer. The system comprises a master machine and a slave machine and is characterized in that: the main machine comprises a height machine, a double-screw air compressor, a steering gear, a cam ball feeding device, an inverted triangle chassis, a transmitting device, a screw ball feeding device and a double-screw lifting device; the double-screw air compressor is arranged below the steering machine on the inverted triangle chassis. The sub-machine comprises a hydraulic push rod, a ball frame, a sub-machine chassis, a ball frame door, a traveling system, a ball carrying system and a ball shifting system; the tennis balls are launched from the launching pipeline by compressed air. The child machine can supplement tennis balls in the ball frame at any time, so that the enthusiasm of training by a practitioner is greatly improved. The ball serving of a person is simulated through the height machine, the steering gear and the rotation direction regulator. The training efficiency is improved by the quick ball receiving of the sub-machine.

Description

Tennis training robot

Technical Field

The invention belongs to the technical field of tennis training equipment, and particularly relates to a tennis training robot.

Background

At present, the tennis is greatly influenced by peers, double training is needed, the exercise intensity is high, so that the requirement on the partner is high, a certain tennis technology is needed, and good physical ability is needed, so that the tennis can be continuously fed, the cost of the tennis is increased, the technical condition of the partner can be seen, the factors such as the quality and difficulty of the ball feeding are limited by the practice of the tennis, particularly the enthusiasm of the practicer is influenced, the tennis service robot can be used for playing the tennis, and the practicer is assisted to hit balls, so that the training requirement is met.

Furthermore, it is not possible for a typical tennis trainer to have a child responsible for picking up his or her ball. Especially beginners just touch tennis, because the batting action is not standard enough, tennis is often changed into picking up; for the training person to improve the ball skills, multi-ball training is necessary, and frequent ball picking also increases the inconvenience of training. Therefore, in order to improve the training level and increase the fun of tennis, a tennis ball picking robot has been developed.

For the practitioners, advanced tennis training equipment is indispensable for rapidly improving the ball art, but domestic related tennis training equipment still has defects, in particular to a tennis service machine for serving balls, which is easy to damage due to higher price, so that the use of people is affected to a certain extent. Therefore, it is a significant matter to develop a tennis training robot which has high technological content, low price, beautiful appearance, durability and the functions of picking up and serving.

Disclosure of Invention

The invention aims to provide a tennis training robot with two functions of automatic ball serving and automatic ball picking.

The technical scheme adopted by the invention for solving the technical problems is as follows:

tennis training robot, including mother machine and son machine, its characteristics are:

the main machine comprises a height machine, a double-screw air compressor, a steering gear, a cam ball feeding device, an inverted triangle chassis, a transmitting device, a screw ball feeding device and a double-screw lifting device; the double-screw air compressor is arranged below the steering machine on the inverted triangle chassis;

the high-low machine comprises a pinion, a large gear, an inner shell, a transmission gear shaft, an outer shell, a guide rail, a sector gear, a bearing, a motion bracket, a high-low machine frame and a high-low machine motor; the pinion is connected with the motor of the height machine and meshed with the large gear, the large gear is connected with the transmission gear shaft, and the lower part of the transmission gear shaft is positioned in a space surrounded by the inner shell and the outer shell; the inner shell and the outer shell can slide on the guide rail, the transmission gear shaft is meshed with a sector gear, and the sector gear is connected with the motion bracket through a bearing;

the moving support of the height machine is hinged with a third section of emission pipeline of the emission device, and the end head of the sector gear is contacted with a first section of emission pipeline of the emission device;

the steering gear comprises a lower rotating handle, a steering gear shell, a sector gear guide rail, an upper rotating handle, a coupler, a steering gear motor and a steering gear motor rack;

the steering motor is fixed on the steering motor frame, an output shaft of the steering motor is connected with the transmission device through a coupler, one end of the upper rotating handle is hinged with the swing rod, and a gear fixedly connected on the swing rod is meshed with the sector gear guide rail; one end of the lower rotating handle is connected with the transmission device, and the other end of the lower rotating handle is hinged with the swing rod; the sector gear guide rail is fixedly connected with the inverted triangle chassis;

the cam ball feeding device comprises a ball feeding pipeline interface, a connecting rod, a rotating handle, an end cover, a connecting rod bracket, a ball feeding pinion, a ball feeding motor, a ball feeding large gear and a ball feeding piston;

the ball feeding motor is fixedly connected with a ball feeding pinion, the ball feeding pinion is meshed with a ball feeding large gear, the ball feeding large gear is connected with a connecting rod transmission mechanism through a transmission shaft on a connecting rod support, the connecting rod transmission mechanism comprises a rotating handle, a connecting rod and a connecting rod support, and an end cover is arranged at the end of the transmission shaft; one end of the connecting rod is hinged with the ball feeding piston, and the other end of the connecting rod is hinged with the rotating handle;

the inverted triangle chassis comprises a rear wheel mud guard, a planetary reducer, a main machine driving motor, a main machine front hub connecting device, a front wheel carrier constraint, a front wheel carrier, a front wheel, a steering gear bracket, a bottom plate, a chassis fixing frame, a chain transmission device, a main machine rear wheel carrier, a main machine rear wheel and a steering device; the bottom plate is fixed on the chassis fixing frame;

the main machine driving motor is fixed on the bottom plate and transmits power to the planetary reducer through a belt, and an output shaft of the planetary reducer transmits power to a main machine rear wheel through a chain transmission device; the chain transmission device comprises a small chain wheel, a transmission chain tensioning wheel frame, a chain tensioning wheel, a transmission large chain wheel and a chain;

the steering device comprises a first steering connecting rod, a steering hinge, a second steering connecting rod, a third steering connecting rod, a fourth steering connecting rod and a steering engine driving plate, and is positioned below the bottom plate; the first steering connecting rods are respectively connected with the front hub connecting devices of the mother machine on two sides; the two ends of the second steering connecting rod are hinged with the first steering connecting rod, one end of the second steering connecting rod is simultaneously hinged with the third steering connecting rod, one end of the fourth steering connecting rod is connected with the steering engine driving plate, and the other end of the fourth steering connecting rod is hinged with the third steering connecting rod;

the transmitting device comprises a first section of transmitting pipeline, a second section of transmitting pipeline, a third section of transmitting pipeline, a rotary flange joint at the front part of the third section of transmitting pipeline, a fourth section of transmitting pipeline, a rotation direction regulator, a fifth section of transmitting pipeline, an air duct, a constant-pressure air supply high-pressure air cabin, a ball supply pipe rotary flange joint, a ball supply pipeline and a rotary flange joint at the rear part of the third section of transmitting pipeline;

the first section of emission pipeline, the second section of emission pipeline, the third section of emission pipeline, the common flange joint of the emission pipeline, the fourth section of emission pipeline and the fifth section of emission pipeline are sequentially connected, a rotation direction regulator is arranged on the fourth section of emission pipeline, and the rotation direction regulator comprises an adjusting gear, an outer gear ring, an adjusting motor, a friction plate, a rotary flange joint at the front end of the fourth section of emission pipeline and a rotary flange joint at the rear end of the fourth section of emission pipeline; an outer gear ring is arranged on the fourth section of emission pipeline, and the adjusting gear is meshed with the outer gear ring arranged on the fourth section of emission pipeline; the fourth section of the emission pipeline can rotate under the action of the adjusting motor; the fourth section of the transmitting pipeline is provided with a rotation direction regulator, and the rotation direction regulator can manually enable the friction plate to be pressed down or lifted up, so that when tennis passes through, the rotation direction of the tennis is changed through friction, and balls with different rotation directions are transmitted;

the screw ball supply device comprises a screw ball supply rod, a ball supply rod coupler, a ball transmission pipeline, a ball storage box, a ball supply motor frame and a ball supply motor; the ball conveying pipeline is positioned below the ball storage box, the ball storage box is communicated with the ball conveying pipeline, the spiral ball conveying rod is positioned in the ball conveying pipeline, one end of the spiral ball conveying rod is connected with a ball conveying rod coupler, the ball conveying rod coupler is connected with a ball supply motor, and one end of the ball conveying pipeline is communicated with a ball supply pipeline interface;

the sub-machine comprises a hydraulic push rod, a ball frame, a sub-machine chassis, a ball frame door, a traveling system, a ball carrying system and a ball shifting system;

the hydraulic push rod is arranged between the ball frame and the ball frame door and is used for opening the ball frame door;

the walking system comprises a sub-machine rear wheel, an omni-wheel carrier, an omni-wheel, a sub-machine rear wheel carrier and a sub-machine rear wheel driving motor; the auxiliary machine rear wheel driving motor is fixed on an auxiliary machine rear wheel frame, the auxiliary machine rear wheel frame is fixed on an auxiliary machine chassis, the omnidirectional wheel is arranged on an omnidirectional wheel frame, and the omnidirectional wheel frame is fixed on the auxiliary machine chassis;

the dribbling system comprises a ball pushing belt, a small transmission belt wheel, a transmission belt, a large transmission belt wheel, a driving roller, a tensioning roller, a driven roller, a sub-machine dribbling motor and a slideway; the child machine dribble motor is connected with the small transmission belt pulley, and the small transmission belt pulley is connected with the large transmission belt pulley through a transmission belt; the driving large belt wheel is connected with the driving roller, a ball pushing belt is arranged between the driving roller and the driven roller, and the tensioning roller is used for adjusting the distance between the ball pushing belt and the slideway;

the ball shifting system comprises a ball shifting disc, a sub-machine ball shifting disc motor, a ball shifting speed reducer and a slideway; the ball shifting disc motor of the slave machine is connected with the ball shifting speed reducer, the ball shifting speed reducer is connected with the ball shifting disc, and the ball shifting disc consists of a plurality of elastic shifting sheets.

Compared with the prior art, the invention has the following beneficial effects:

the invention adopts the pneumatic service principle, and utilizes compressed air to launch tennis balls from the launching pipeline. The ball serving of a person is simulated through the height machine, the steering gear and the rotation direction regulator. Compared with a double-wheel-pair ball forwarding machine, the pneumatic ball serving machine is cheaper, is more suitable for large-area popularization in China, and is beneficial to practice of wide tennis fans in China. And the pneumatic ball serving machine aims at the defects of high noise and unstable ball serving of the traditional pneumatic ball serving machine, and has more excellent performance. Is a combined tennis training robot integrating two functions of fixed-point ball serving and rapid ball receiving.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a perspective view of the overall appearance structure of the present invention;

FIG. 3 is a schematic diagram of a transmitting device according to the present invention;

FIG. 4 is a top view of the structure of FIG. 3;

FIG. 5 is a front view of the structure of FIG. 3;

FIG. 6 is a schematic diagram of a steering gear structure of the transmitting device of the present invention;

FIG. 7 is a rear perspective view of the structure shown in FIG. 6;

FIG. 8 is a right side perspective view of the structure shown in FIG. 6;

FIG. 9 is a schematic view of the structure of the high-low machine of the transmitting device of the present invention;

FIG. 10 is a bottom perspective view of the structure shown in FIG. 9;

FIG. 11 is a partial cross-sectional view of a horizontal ball feeder of the invention;

FIG. 12 is a perspective top view of the structure shown in FIG. 11;

FIG. 13 is a bottom perspective view of the structure of FIG. 12;

FIG. 14 is a schematic perspective view of a cam ball feeding device according to the present invention;

FIG. 15 is a front and partial cross-sectional view of FIG. 14;

FIG. 16 is a schematic perspective view of a sub-vehicle structure according to the present invention;

FIG. 17 is a rear elevational view of the structure illustrated in FIG. 16;

FIG. 18 is a bottom perspective view of the structure shown in FIG. 17;

FIG. 19 is a schematic perspective view of an inverted triangle chassis structure of the present invention;

fig. 20 is a bottom view of the structure shown in fig. 19.

In the figure: in the figure: 1-a master;

1-1 parts of a height machine;

1-1 a-pinion; 1-1 b-a large gear; 1-1 c-an inner housing; 1-1d, a transmission gear shaft; 1-1 e-an outer housing; 1-1 f-a guide rail; 1-1g of sector gear; 1-1 h-bearing; 1-1 i-a motion support; 1-1 j-a high-low electromechanical frame; 1-1 k-a high-low machine motor;

1-2-double screw air compressor;

1-3-steering gear;

1-3 a-lower stem; 1-3 b-steering wheel housing; 1-3 c-sector tooth guide rail; 1-3d, a rotating handle is arranged upwards; 1-3 e-coupling; 1-3 f-steering wheel motor; 1-3 g-direction electromechanical frame; 1-3 h-gear shaft; 1-3 i-worm;

1-4, a cam ball feeding device;

1-4 a-ball supply pipeline interface; 1-4 b-connecting rod; 1-4 c-a stem; 1-4 d-end cap; 1-4 e-a connecting rod bracket; 1-4 f-ball feed pinion; 1-4 g-ball feeding motor; 1-4h, a ball feeding large gear; 1-4 l-ball feeding piston;

1-5-an inverted triangle chassis;

1-5 a-rear wheel fender; 1-5 b-planetary reducer; 1-5c, a master drive motor; 1-5d, a front hub connecting device of a mother machine; 1-5 e-front wheel frame restraint; 1-5 f-front wheel frame; 1-5 g-front wheel; 1-5 h-steering wheel support; 1-5 i-a bottom plate; 1-5 j-chassis securing frame; 1-5 k-small sprocket; 1-5 l-drive chain tensioning wheel frame; 1-5 m-chain tensioner; 1-5 n-a rear wheel frame of a mother machine; 1-5 o-large drive sprocket; 1-5 p-master rear wheel; 1-5 q-chain; 1-5 r-first steering linkage; 1-5 s-steering hinge; 1-5 t-a second steering link; 1-5 u-a third steering link; 1-5 v-fourth steering linkage; 1-5 w-steering engine driving plate;

1-6-transmitting means;

1-6 a-a first section of launch conduit; 1-6 b-a second section of emission piping; 1-6 c-a third section of emission pipeline; 1-6 d-a rotary flange joint at the front end of a fourth section of emission pipeline; 1-6 e-fourth section of emission pipeline; 1-6 f-adjusting gears; 1-6 g-regulating motor; 1-6 h-a fifth section of emission pipeline; 1-6 i-airway; 1-6 j-constant pressure type air supply high pressure air bin; 1-6 k-a bulb flange joint; 1-6 l-ball supply pipeline; 1-6 m-a rotary flange joint at the rear end of a fourth section of emission pipeline; 1-6 n-friction adjusting mechanism bracket; 1-6 o-rectangular friction plate adjustment mechanism; 1-6 p-outer gear ring; 1-6 r-friction plate;

1-7-a screw ball supply device;

1-7 a-spiral cue stick; 1-7 b-ball-delivering shaft coupling; 1-7 c-pass pipe; 1-7d, a ball storage box; 1-7 e-a ball supply motor frame; 1-7 f-a ball supply motor;

1-8-a double screw lifting device;

2-a sub-machine;

2-1-a hydraulic push rod; 2-the rear wheel of the sub-machine; 2-3-an omnidirectional wheel carrier; 2-4-omni wheels; 2-5-slide ways; 2-6, a ball shifting disc; 2-7-ball pushing belt; 2-8, a small transmission belt wheel; 2-9, a transmission belt; 2-10, a large driving belt wheel; 2-11-ball frame; 2-12, a driving roller; 2-13-tensioning roller; 2-14-driven roller; 2-15-a child machine dribbling motor; 2-16-a ball shifting disc motor of a slave machine; 2-17-ball-shifting decelerator; 2-18-submachine chassis; 2-19-a sub-machine rear wheel frame; 2-20, a sub-machine rear wheel driving motor; 2-21-ball frame door;

Detailed Description

As shown in fig. 2, the tennis training robot comprises a main machine 1 and a sub machine 2, and is characterized in that:

as shown in FIG. 1, the main machine 1 comprises a height machine 1-1, a double-screw air compressor 1-2, a steering gear 1-3, a cam ball feeding device 1-4, an inverted triangle chassis 1-5, a transmitting device 1-6, a screw ball feeding device 1-7 and a double-screw lifting device 1-8; the double-screw air compressor 1-2 is arranged below the steering gear 1-3 above the inverted triangle chassis 1-5;

as shown in fig. 9 and 10, the high-low machine 1-1 comprises a pinion gear 1-1a, a large gear 1-1b, an inner shell 1-1c, a transmission gear shaft 1-1d, an outer shell 1-1e, a guide rail 1-1f, a sector gear 1-1g, a bearing 1-1h, a motion bracket 1-1i, a high-low machine frame 1-1j and a high-low machine motor 1-1k; the pinion 1-1a is connected with the high-low machine motor 1-1k and meshed with the large gear 1-1b, the large gear 1-1b is connected with the transmission gear shaft 1-1d, and the lower part of the transmission gear shaft 1-1d is positioned in a space surrounded by the inner shell 1-1c and the outer shell 1-1 e; the inner shell 1-1c and the outer shell 1-1e can slide on the guide rail 1-1f, the transmission gear shaft 1-1d is meshed with a sector gear 1-1g, and the sector gear 1-1g is connected with a motion bracket 1-1i through a bearing 1-1 h;

the movable support 1-1i of the height machine 1-1 is hinged with the third section of the transmitting pipeline 1-6c of the transmitting device 1-6, and the end head of the sector gear 1-1g is contacted with the first section of the transmitting pipeline 1-6a of the transmitting device 1-6;

as shown in fig. 6, 7 and 8, the steering wheel 1-3 comprises a lower rotating handle 1-3a, a steering wheel shell 1-3b, a sector gear guide rail 1-3c, an upper rotating handle 1-3d, a coupler 1-3e, a steering wheel motor 1-3f and a steering wheel machine frame 1-3g;

the steering gear motor 1-3f is fixed on the steering gear motor frame 1-3g, an output shaft of the steering gear motor 1-3f is connected with a transmission device through a coupler 1-3e, one end of an upper rotating handle 1-3d is hinged with a swinging rod 1-3h, and a gear fixedly connected on the swinging rod 1-3h is meshed with a sector gear guide rail 1-3 c; one end of the lower rotating handle 1-3a is connected with the transmission device, and the other end is hinged with the swing rod 1-3 h; the sector gear guide rail 1-3c is fixedly connected with the inverted triangle chassis 1-5;

as shown in fig. 14 and 15, the cam ball feeding device 1-4 comprises a ball feeding pipeline interface 1-4a, a connecting rod 1-4b, a rotating handle 1-4c, an end cover 1-4d, a connecting rod bracket 1-4e, a ball feeding pinion 1-4f, a ball feeding motor 1-4g, a ball feeding large gear 1-4h and a ball feeding piston 1-4l;

the ball feeding motor 1-4g is fixedly connected with the ball feeding pinion 1-4f, the ball feeding pinion 1-4f is meshed with the ball feeding large gear 1-4h, the ball feeding large gear 1-4h is connected with a connecting rod transmission mechanism through a transmission shaft on the connecting rod support 1-4e, the connecting rod transmission mechanism comprises a rotating handle 1-4c, a connecting rod 1-4b and a connecting rod support 1-4e, and an end cover 1-4d is arranged at the end of the transmission shaft; one end of the connecting rod 1-4b is hinged with the ball feeding piston 1-4l, and the other end is hinged with the rotating handle 1-4 c;

as shown in fig. 19 and 20, the inverted triangle chassis 1-5 comprises a rear wheel fender 1-5a, a planetary reducer 1-5b, a main machine driving motor 1-5c, a main machine front hub connecting device 1-5d, a front wheel frame constraint 1-5e, a front wheel frame 1-5f, a front wheel 1-5g, a steering wheel bracket 1-5h, a bottom plate 1-5i, a chassis fixing frame 1-5j, a chain transmission device, a main machine rear wheel frame 1-5n, a main machine rear wheel 1-5p and a steering device; the bottom plates 1-5i are fixed on the chassis fixing frames 1-5 j;

the main machine driving motor 1-5c is fixed on the bottom plate 1-5i, and transmits power to the planetary reducer 1-5b through a belt, and an output shaft of the planetary reducer 1-5b transmits power to the main machine rear wheel 1-5p through a chain transmission device; the chain transmission device comprises a small chain wheel 1-5k, a transmission chain tensioning wheel frame 1-5l, a chain tensioning wheel 1-5m, a transmission large chain wheel 1-5o and a chain 1-5q;

as shown in fig. 20, the steering device comprises a first steering connecting rod 1-5r, a steering hinge 1-5s, a second steering connecting rod 1-5t, a third steering connecting rod 1-5u, a fourth steering connecting rod 1-5v and a steering engine driving plate 1-5w, and the steering device is positioned below a bottom plate 1-5 i; the first steering connecting rods 1-5r are respectively connected with the front hub connecting devices 1-5d of the mother machine on two sides; two ends of the second steering connecting rod 1-5t are hinged with the first steering connecting rod 1-5r, one end of the second steering connecting rod 1-5t is simultaneously hinged with the third steering connecting rod 1-5u, one end of the fourth steering connecting rod 1-5v is connected with the steering engine driving plate 1-5w, and the other end of the fourth steering connecting rod is hinged with the third steering connecting rod 1-5 u;

as shown in fig. 3, 4 and 5, the launching device 1-6 comprises a first section of launching pipeline 1-6a, a second section of launching pipeline 1-6b, a third section of launching pipeline 1-6c, a third section of launching pipeline front rotary flange joint 1-6d, a fourth section of launching pipeline 1-6e, a rotation direction regulator, a fifth section of launching pipeline 1-6h, an air duct 1-6i, a constant pressure air supply high-pressure air bin 1-6j, a ball supply pipe rotary flange joint 1-6k, a ball supply pipeline 1-6l and a third section of launching pipeline rear rotary flange joint 1-6m;

the first section of emission pipeline 1-6a, the second section of emission pipeline 1-6b, the third section of emission pipeline 1-6c, the emission pipeline common flange joint 1-6d, the fourth section of emission pipeline 1-6e and the fifth section of emission pipeline 1-6h are sequentially connected, a rotation direction regulator is arranged on the fourth section of emission pipeline 1-6e and comprises an adjusting gear 1-6f, an outer gear ring 1-6p, an adjusting motor 1-6g, a friction plate 1-6r, a fourth section of emission pipeline front end rotary flange joint 1-6d and a fourth section of emission pipeline rear end rotary flange joint 1-6m; an outer gear ring 1-6p is arranged on the fourth section of the transmitting pipeline 1-6e, and the adjusting gear 1-6f is meshed with the outer gear ring 1-6p arranged on the fourth section of the transmitting pipeline 1-6 e; under the action of the adjusting motor 1-6g, the fourth section of the transmitting pipeline 1-6e can rotate; the fourth section of the launching pipeline 1-6e is provided with a rotation direction regulator 1-6n, the rotation direction regulator 1-6n can manually enable a friction plate to be pressed down or lifted up, so that when tennis passes through, the rotation direction of the tennis is changed through friction, and balls with different rotation directions are launched;

as shown in fig. 11, 12 and 13, the screw ball supply device 1-7 comprises a screw ball supply rod 1-7a, a ball supply rod coupling 1-7b, a ball transmission pipeline 1-7c, a ball storage box 1-7d, a ball supply motor frame 1-7e and a ball supply motor 1-7f; the ball conveying pipeline 1-7c is positioned below the ball storage box 1-7d, the ball storage box 1-7d is communicated with the ball conveying pipeline 1-7c, the spiral ball conveying rod 1-7a is positioned in the ball conveying pipeline 1-7c, one end of the spiral ball conveying rod is connected with the ball conveying rod coupler 1-7b, the ball conveying rod coupler 1-7b is connected with the ball supplying motor 1-7f, and one end of the ball conveying pipeline 1-7c is communicated with the ball supplying pipeline interface 1-4 a;

as shown in fig. 16, 17 and 18, the sub-machine 2 comprises a hydraulic push rod 2-1, a ball frame 2-11, a sub-machine chassis 2-18, a ball frame door 2-21, a running system, a dribbling system and a ball shifting system;

the hydraulic push rod 2-1 is arranged between the ball frame 2-11 and the ball frame door 2-21 and is used for opening the ball frame door 2-21;

the traveling system comprises a sub-machine rear wheel 2-2, an omni-wheel carrier 2-3, an omni-wheel carrier 2-4, a sub-machine rear wheel carrier 2-19 and a sub-machine rear wheel driving motor 2-20; the rear wheel driving motor 2-20 of the sub-machine is fixed on the rear wheel frame 2-19 of the sub-machine, the rear wheel frame 2-19 of the sub-machine is fixed on the chassis 2-18 of the sub-machine, the omni-wheel 2-4 is arranged on the omni-wheel frame 2-3, and the omni-wheel frame 2-3 is fixed on the chassis 2-18 of the sub-machine;

the dribbling system comprises a ball pushing belt 2-7, a small driving belt wheel 2-8, a driving belt 2-9, a large driving belt wheel 2-10, a driving roller 2-12, a tensioning roller 2-13, a driven roller 2-14, a sub-machine dribbling motor 2-15 and a slideway 2-5; the child machine dribble motor 2-15 is connected with the small transmission belt pulley 2-8, and the small transmission belt pulley 2-8 is connected with the large transmission belt pulley 2-10 through a transmission belt 2-9; the driving large belt wheel 2-10 is connected with the driving roller 2-12, a ball pushing belt 2-7 is arranged between the driving roller 2-12 and the driven roller 2-14, and the tensioning roller 2-13 is used for adjusting the distance between the ball pushing belt 2-7 and the slideway 2-5;

the ball shifting system comprises a ball shifting disc 2-6, a sub-machine ball shifting disc motor 2-16, a ball shifting speed reducer 2-17 and a slideway 2-5; the ball shifting disc motor 2-16 of the slave machine is connected with the ball shifting speed reducer 2-17, the ball shifting speed reducer 2-17 is connected with the ball shifting disc 2-6, and the ball shifting disc 2-6 is composed of a plurality of elastic shifting sheets.

The working process comprises the following steps:

and (3) ball receiving process:

when helping a trainer to train, the master machine 1 automatically moves to a designated place to perform fixed-point ball serving according to the instruction of the trainer, meanwhile, the slave machine 2 is released, and scattered tennis balls are collected in a court by the slave machine 2. The sub machine 2 recovers tennis balls during traveling, the ball pulling disc 2-6 pulls the tennis balls into the slideway 2-5, and then the tennis balls are sent into the ball storage box 1-7d along the slideway 2-5 through extrusion and friction generated by the driving belt 2-9 driven by the rotating roller, so as to finish ball receiving work.

And (3) ball delivery process:

when the son machine 2 receives the ball so that the ball frames 2-11 are full or receives the signal of insufficient ball number in the ball frame of the mother machine 1, the son machine returns to the navigation and ball crossing. The sub machine 2 runs onto the bearing plate of the double-screw lifting device 1-8, the motor of the double-screw lifting device 1-8 provides power to drive the screws to rotate, the sub machine 2 borne by the bearing plate is lifted to a set ball-crossing position through the matched rotation of the screws at two sides, and as the bottom of the ball frame 2-11 is provided with a certain inclination, after the rear box door is opened by the hydraulic push rod 2-1, tennis balls roll into the ball storage box 1-7d of the ball storage box along the inclined plane, so that ball crossing work is completed.

Ball feeding process:

under the action of a tiny inclined plane at the bottom of the ball storage box 1-7d, tennis balls in the ball storage box 1-7d can flow into the ball transmission pipeline 1-7c, and then the tennis balls are transmitted into the cam ball feeding device 1-4 under the action of the spiral ball feeding rod 1-7a driven to rotate by the ball supply motor 1-7 f. The ball feeding motor 1-4g provides power, the ball feeding pinion 1-4f and the ball feeding large gear 1-4h are meshed for transmission to drive the rotating handle 1-4c to rotate, and then the ball feeding piston 1-4l can do up-and-down reciprocating linear motion according to the characteristic that the crank connecting rod mechanism can convert the rotary motion into the reciprocating linear motion, so that tennis balls fed into the ball feeding pipeline interface 1-4a by the screw rod ball feeding device 1-7 are jacked into the ball feeding pipeline, and ball feeding work is completed. In the ball feeding process, the ball feeding frequency can be controlled by adjusting the working speed of each part of structure, so as to control the ball feeding frequency.

The ball serving process comprises the following steps:

tennis balls fed into the fifth section of transmitting pipeline 1-6h by the cam ball feeding device 1-4 are sequentially transmitted out of the body through the fourth section of transmitting pipeline 1-6e, the third section of transmitting pipeline 1-6c, the second section of transmitting pipeline 1-6b and the first section of transmitting pipeline 1-6a under the action of high-pressure gas provided by the double-screw air compressor 1-2 and regulated and controlled by the constant-pressure air supply high-pressure air warehouse 1-6j and the proportional valve.

The driving and steering process of the inverted triangle chassis comprises the following steps:

the chassis driving is that the driving motor 1-5c of the main machine provides power, the power is transmitted to the planetary reducer 1-5b through belt transmission, after the torque is increased through the reducer, the power is transmitted to the rear wheel 1-5p of the main machine through chain transmission, and therefore the independent driving of the rear wheel is completed.

The chassis steering is that the steering engine driving plate 1-5w provides torque, and the two front wheels 1-5g are driven to steer through the movement of the steering connecting rod.

Ball serving height adjustment:

the motor 1-1k of the high-low machine provides power, the power is transmitted to the transmission gear shaft 1-1d through the meshing transmission of the pinion 1-1a and the large gear 1-1b, and the fan-shaped gear 1-1g rotates to different positions in a vertical plane by taking the central axis of the fan-shaped gear 1-1g as a rotating shaft through the meshing of the transmission gear shaft 1-1d and the fan-shaped gear 1-1g, and the top end of the fan-shaped gear 1-1g is connected with the first section of emission pipeline 1-6a, so that the first section of emission pipeline 1-6a and the second section of emission pipeline 1-6b can be driven to realize lifting and pulling-down movements in the vertical direction.

Ball serving horizontal direction adjustment:

the steering wheel motor 1-3f provides power, the power is transmitted to the worm gear shaft through the meshing of the worm and the worm wheel on the worm gear shaft, the power is transmitted to the gear shaft 1-3h through the meshing of the gear on the worm gear shaft and the gear on the gear shaft, and the gear on the gear shaft 1-3h is meshed with the sector gear guide rail 1-3c, and the sector gear guide rail 1-3c is fixed, so that the gear shaft 1-3h takes the central axis of the sector gear guide rail 1-3c as a rotation axis, and the axis is the central axis of the ball supply pipeline 1-6l in FIG. 3; rotated in the horizontal direction to a different position. And because the top end of the steering gear shaft 1-3h is connected with the tail parts of the third section of the transmitting pipeline 1-6c and the high-low machine moving bracket 1-1i, the whole transmitting pipeline system and the whole high-low machine are driven to swing in the horizontal direction by taking the central axis of the ball pipeline 1-6l as a rotating central axis, and the high-low machine moves along the guide rail 1-1 f.

As shown in fig. 3, 4 and 5, tennis ball rotation direction adjustment:

the adjusting motor 1-6g of the launching device provides power, and the adjusting gear 1-6f of the launching device is meshed with a large gear on the fourth section of launching pipeline 1-6e to drive the fourth section of launching pipeline 41-6e to rotate around the axis to drive the rotation direction regulator fixed together with the fourth section of launching pipeline 41-6e to rotate to different positions. The spiral direction regulator extrudes and rubs tennis balls passing through the pipeline through a rectangular friction plate extending into the pipeline, and the other parts except the extrusion plate in the fourth section of the transmitting pipeline 41-6e are smoother than the surface of the friction plate, so that the passing tennis balls have a certain spiral direction after being unevenly rubbed, and various spiral-direction tennis balls such as upward spiral balls, downward spiral balls and the like can be transmitted. In addition, when tennis balls (soft balls/hard balls) of different types are used, the extrusion force and the friction force of the friction plate on the tennis balls can be changed by manually adjusting the relative deep amount of the friction plate in the spin regulator, so that the ball is prevented from being injured.

Claims

1. The implementation method of the tennis training robot comprises the tennis training robot, and comprises a master machine (1) and a slave machine (2), and is characterized in that:

the main machine (1) comprises a height machine (1-1), a double-screw air compressor (1-2), a steering machine (1-3), a cam ball feeding device (1-4), an inverted triangle chassis (1-5), a transmitting device (1-6), a screw ball feeding device (1-7) and a double-screw lifting device (1-8); the double-screw air compressor (1-2) is arranged below the steering machine (1-3) on the inverted triangle chassis (1-5);

the high-low machine (1-1) comprises a pinion (1-1 a), a large gear (1-1 b), an inner shell (1-1 c), a transmission gear shaft (1-1 d), an outer shell (1-1 e), a guide rail (1-1 f), a sector gear (1-1 g), a bearing (1-1 h), a motion bracket (1-1 i), a high-low machine frame (1-1 j) and a high-low machine (1-1 k); the pinion (1-1 a) is connected with the high-low motor (1-1 k) and meshed with the large gear (1-1 b), the large gear (1-1 b) is connected with the transmission gear shaft (1-1 d), and the lower part of the transmission gear shaft (1-1 d) is positioned in a space surrounded by the inner shell (1-1 c) and the outer shell (1-1 e); the inner shell (1-1 c) and the outer shell (1-1 e) can slide on the guide rail (1-1 f), the transmission gear shaft (1-1 d) is meshed with a sector gear (1-1 g), and the sector gear (1-1 g) is connected with the motion bracket (1-1 i) through a bearing (1-1 h);

the movable support (1-1 i) of the height machine (1-1) is hinged with a third section of emission pipeline (1-6 c) of the emission device (1-6), and the end head of the sector gear (1-1 g) is contacted with a first section of emission pipeline (1-6 a) of the emission device (1-6);

the steering gear (1-3) comprises a lower rotating handle (1-3 a), a steering gear shell (1-3 b), a sector gear guide rail (1-3 c), an upper rotating handle (1-3 d), a coupler (1-3 e), a steering gear motor (1-3 f) and a steering gear machine frame (1-3 g);

the steering gear motor (1-3 f) is fixed on the steering gear motor rack (1-3 g), an output shaft of the steering gear motor (1-3 f) is connected with the transmission device through a coupler (1-3 e), one end of the upper rotating handle (1-3 d) is hinged with the swinging rod (1-3 h), and a gear fixedly connected on the swinging rod (1-3 h) is meshed with the sector gear guide rail (1-3 c); one end of the lower rotating handle (1-3 a) is connected with the transmission device, and the other end is hinged with the swing rod (1-3 h); the sector gear guide rail (1-3 c) is fixedly connected with the inverted triangle chassis (1-5);

the cam ball feeding device (1-4) comprises a ball supply pipeline interface (1-4 a), a connecting rod (1-4 b), a rotating handle (1-4 c), an end cover (1-4 d), a connecting rod bracket (1-4 e), a ball feeding pinion (1-4 f), a ball feeding motor (1-4 g), a ball feeding bull gear (1-4 h) and a ball feeding piston (1-4 l);

the ball feeding motor (1-4 g) is fixedly connected with the ball feeding pinion (1-4 f), the ball feeding pinion (1-4 f) is meshed with the ball feeding large gear (1-4 h), the ball feeding large gear (1-4 h) is connected with the connecting rod transmission mechanism through a transmission shaft on the connecting rod bracket (1-4 e), the connecting rod transmission mechanism comprises a rotating handle (1-4 c), a connecting rod (1-4 b) and the connecting rod bracket (1-4 e), and an end cover (1-4 d) is arranged at the end of the transmission shaft; one end of the connecting rod (1-4 b) is hinged with the ball feeding piston (1-4 l), and the other end is hinged with the rotating handle (1-4 c);

the inverted triangle chassis (1-5) comprises a rear wheel mud guard (1-5 a), a planetary reducer (1-5 b), a main machine driving motor (1-5 c), a main machine front hub connecting device (1-5 d), a front wheel frame restraint (1-5 e), a front wheel frame (1-5 f), a front wheel (1-5 g), a steering wheel bracket (1-5 h), a bottom plate (1-5 i), a chassis fixing frame (1-5 j), a chain transmission device, a main machine rear wheel frame (1-5 n), a main machine rear wheel (1-5 p) and a steering device; the bottom plates (1-5 i) are fixed on the chassis fixing frames (1-5 j);

the main machine driving motor (1-5 c) is fixed on the bottom plate (1-5 i) and transmits power to the planetary reducer (1-5 b) through a belt, and an output shaft of the planetary reducer (1-5 b) transmits power to a main machine rear wheel (1-5 p) through a chain transmission device; the chain transmission device comprises a small chain wheel (1-5 k), a transmission chain tensioning wheel frame (1-5 l), a chain tensioning wheel (1-5 m), a transmission large chain wheel (1-5 o) and a chain (1-5 q);

the steering device comprises a first steering connecting rod (1-5 r), a steering hinge (1-5 s), a second steering connecting rod (1-5 t), a third steering connecting rod (1-5 u), a fourth steering connecting rod (1-5 v) and a steering engine driving plate (1-5 w), and is positioned below the bottom plate (1-5 i); the first steering connecting rods (1-5 r) are respectively connected with front hub connecting devices (1-5 d) of the mother machine on two sides; two ends of the second steering connecting rod (1-5 t) are hinged with the first steering connecting rod (1-5 r), one end of the second steering connecting rod (1-5 t) is simultaneously hinged with the third steering connecting rod (1-5 u), one end of the fourth steering connecting rod (1-5 v) is connected with the steering engine driving plate (1-5 w), and the other end of the fourth steering connecting rod is hinged with the third steering connecting rod (1-5 u);

the transmitting device (1-6) comprises a first section of transmitting pipeline (1-6 a), a second section of transmitting pipeline (1-6 b), a third section of transmitting pipeline (1-6 c), a front rotary flange joint (1-6 d) of the third section of transmitting pipeline, a fourth section of transmitting pipeline (1-6 e), a rotation direction regulator, a fifth section of transmitting pipeline (1-6 h), an air duct (1-6 i), a constant-pressure type air supply high-pressure air bin (1-6 j), a ball supply rotary flange joint (1-6 k), a ball supply pipeline (1-6 l) and a rear rotary flange joint (1-6 m) of the third section of transmitting pipeline;

the device comprises a first section of transmitting pipeline (1-6 a), a second section of transmitting pipeline (1-6 b), a third section of transmitting pipeline (1-6 c), a common flange joint (1-6 d) of transmitting pipeline, a fourth section of transmitting pipeline (1-6 e) and a fifth section of transmitting pipeline (1-6 h), wherein the fourth section of transmitting pipeline (1-6 e) is provided with a rotation direction regulator, the rotation direction regulator comprises an adjusting gear (1-6 f), an outer gear ring (1-6 p), an adjusting motor (1-6 g), a friction plate (1-6 r), a rotary flange joint (1-6 d) at the front end of the fourth section of transmitting pipeline and a rotary flange joint (1-6 m) at the rear end of the fourth section of transmitting pipeline; an outer gear ring (1-6 p) is arranged on the fourth section of emission pipeline (1-6 e), and the adjusting gear (1-6 f) is meshed with the outer gear ring (1-6 p) arranged on the fourth section of emission pipeline (1-6 e); under the action of the adjusting motor (1-6 g), the fourth section of the transmitting pipeline (1-6 e) can rotate; a spiral direction regulator (1-6 n) is arranged on the fourth section of the transmitting pipeline (1-6 e), the spiral direction regulator (1-6 n) can manually enable the friction plate to be pressed down or lifted up, so that when tennis passes through, the spiral direction of the tennis is changed through friction, and balls with different spiral directions are transmitted;

the screw ball supply device (1-7) comprises a screw ball supply rod (1-7 a), a ball supply rod coupler (1-7 b), a ball transmission pipeline (1-7 c), a ball storage box (1-7 d), a ball supply motor frame (1-7 e) and a ball supply motor (1-7 f); the ball conveying pipeline (1-7 c) is positioned below the ball storage box (1-7 d), the ball storage box (1-7 d) is communicated with the ball conveying pipeline (1-7 c), the spiral ball conveying rod (1-7 a) is positioned in the ball conveying pipeline (1-7 c), one end of the spiral ball conveying rod is connected with the ball conveying rod coupler (1-7 b), the ball conveying rod coupler (1-7 b) is connected with the ball supply motor (1-7 f), and one end of the ball conveying pipeline (1-7 c) is communicated with the ball supply pipeline interface (1-4 a);

the sub-machine (2) comprises a hydraulic push rod (2-1), a ball frame (2-11), a sub-machine chassis (2-18), a ball frame door (2-21), a running system, a dribbling system and a ball shifting system;

the hydraulic push rod (2-1) is arranged between the ball frame (2-11) and the ball frame door (2-21) and is used for opening the ball frame door (2-21);

the walking system comprises a sub-machine rear wheel (2-2), an omni-wheel carrier (2-3), an omni-wheel carrier (2-4), a sub-machine rear wheel carrier (2-19) and a sub-machine rear wheel driving motor (2-20); the rear wheel driving motor (2-20) of the sub-machine is fixed on a rear wheel frame (2-19) of the sub-machine, the rear wheel frame (2-19) of the sub-machine is fixed on a chassis (2-18) of the sub-machine, the omni-wheel (2-4) is arranged on an omni-wheel frame (2-3), and the omni-wheel frame (2-3) is fixed on the chassis (2-18) of the sub-machine;

the dribbling system comprises a ball pushing belt (2-7), a small driving belt wheel (2-8), a driving belt (2-9), a large driving belt wheel (2-10), a driving roller (2-12), a tensioning roller (2-13), a driven roller (2-14), a sub-machine dribbling motor (2-15) and a slideway (2-5); the child machine dribble motor (2-15) is connected with the small transmission belt wheel (2-8), and the small transmission belt wheel (2-8) is connected with the large transmission belt wheel (2-10) through a transmission belt (2-9); the driving large belt wheel (2-10) is connected with the driving roller (2-12), a ball pushing belt (2-7) is arranged between the driving roller (2-12) and the driven roller (2-14), and the tensioning roller (2-13) is used for adjusting the distance between the ball pushing belt (2-7) and the slideway (2-5);

the ball shifting system comprises a ball shifting disc (2-6), a sub-machine ball shifting disc motor (2-16), a ball shifting speed reducer (2-17) and a slideway (2-5); the ball shifting disc motor (2-16) of the slave machine is connected with the ball shifting speed reducer (2-17), the ball shifting speed reducer (2-17) is connected with the ball shifting disc (2-6), and the ball shifting disc (2-6) is composed of a plurality of elastic shifting sheets;

and (3) ball receiving process:

when helping a trainer to train, the master machine (1) automatically moves to a designated place to perform fixed-point ball serving according to the instruction of the trainer, meanwhile, the slave machine (2) is released, and scattered tennis balls are collected in a court by the slave machine (2); the sub-machine (2) recovers tennis balls in the advancing process, the ball pulling disc (2-6) pulls the tennis balls into the slideway (2-5), and then the tennis balls are sent into the ball storage box (1-7 d) along the slideway (2-5) through extrusion and friction generated by the driving belt (2-9) driven by the rotating roller, so that ball receiving work is completed;

and (3) ball delivery process:

when the ball receiving of the slave machine (2) leads the ball frame (2-11) to be full or receives a signal of insufficient ball number in the ball frame of the master machine (1), the slave machine returns to the navigation and ball crossing; the sub-machine (2) runs onto a bearing plate of the double-screw lifting device (1-8), a motor of the double-screw lifting device (1-8) provides power to drive screws to rotate, the sub-machine (2) borne by the bearing plate is lifted to a set ball-crossing position through the matched rotation of the screws at two sides, and as the bottom of the ball frame (2-11) is provided with a certain inclination, after a rear box door is opened by the hydraulic push rod (2-1), tennis balls roll into the ball storage box (1-7 d) along an inclined plane to finish ball-crossing work;

ball feeding process:

under the action of a tiny inclined plane at the bottom of the ball storage box (1-7 d), tennis balls in the ball storage box (1-7 d) can flow into a ball transmission pipeline (1-7 c), and then under the action of a spiral ball feeding rod (1-7 a) driven to rotate by a ball supply motor (1-7 f), the tennis balls are transmitted into a cam ball feeding device (1-4); the ball feeding motor (1-4 g) provides power, the ball feeding pinion (1-4 f) and the ball feeding bull gear (1-4 h) are meshed and driven to drive the rotary handle (1-4 c) to rotate, and then the ball feeding piston (1-4 l) can do up-and-down reciprocating linear motion according to the characteristic of converting the rotary motion into reciprocating linear motion of the crank connecting rod mechanism, so that tennis balls fed into the ball feeding pipeline interface (1-4 a) by the screw rod ball feeding device (1-7) are jacked into the ball feeding pipeline to finish ball feeding work; in the ball feeding process, the ball feeding frequency is controlled by adjusting the working speed of each part of structure, so as to control the ball feeding frequency;

the ball serving process comprises the following steps:

tennis balls fed into a fifth section of emission pipeline (1-6 h) by a cam ball feeding device (1-4) are sequentially emitted out of the body through a fourth section of emission pipeline (1-6 e), a third section of emission pipeline (1-6 c), a second section of emission pipeline (1-6 b) and a first section of emission pipeline (1-6 a) under the action of high-pressure gas provided by a double-screw air compressor (1-2) and regulated and controlled by a constant-pressure air supply high-pressure air bin (1-6 j) and a proportional valve;

the chassis driving is that a main machine driving motor (1-5 c) provides power, the power is transmitted to a planetary reducer (1-5 b) through belt transmission, after the torque is increased through the reducer, the power is transmitted to a main machine rear wheel (1-5 p) through chain transmission, so that the independent driving of the rear wheel is completed;

the chassis steering is that a steering engine driving plate (1-5 w) provides torque, and two front wheels (1-5 g) are driven to steer through the movement of a steering connecting rod;

ball serving height adjustment:

the high-low motor (1-1 k) provides power, the power is transmitted to the transmission gear shaft (1-1 d) through the meshing transmission of the pinion (1-1 a) and the large gear (1-1 b), and the fan-shaped gear (1-1 g) rotates to different positions in a vertical plane by taking the central axis of the fan-shaped gear as a rotating shaft through the meshing of the transmission gear shaft (1-1 d) and the fan-shaped gear (1-1 g), and the top end of the fan-shaped gear (1-1 g) is connected with the first section of emission pipeline (1-6 a), so that the first section of emission pipeline (1-6 a) and the second section of emission pipeline (1-6 b) can be driven to realize lifting and pulling-down movement in the vertical direction;

ball serving horizontal direction adjustment:

the steering gear motor (1-3 f) provides power, the power is transmitted to the worm gear shaft through the engagement of the worm and the worm wheel on the worm gear shaft, the power is transmitted to the gear shaft (1-3 h) through the engagement of the gear on the worm gear shaft and the gear on the gear shaft, and the gear on the gear shaft (1-3 h) is engaged with the sector gear guide rail (1-3 c) and the sector gear guide rail (1-3 c) is fixed, so that the gear shaft (1-3 h) takes the central axis of the sector gear guide rail (1-3 c) as a rotation axis, and the axis is the central axis of the ball supply pipeline (1-6 l); rotate to different positions in the horizontal direction; because the top end of the steering gear shaft (1-3 h) is connected with the tail parts of the third section of transmitting pipeline (1-6 c) and the high-low machine moving bracket (1-1 i), the whole transmitting pipeline system and the whole high-low machine are driven to swing in the horizontal direction by taking the central axis of the ball pipeline (1-6 l) as a rotating central axis, and the high-low machine moves along the guide rail (1-1 f);

tennis ball rotation direction adjustment:

the adjusting motor (1-6 g) of the launching device provides power, and the adjusting gear (1-6 f) of the launching device is meshed with a large gear on the fourth section of launching pipeline (1-6 e) to drive the fourth section of launching pipeline (1-6 e) to rotate around the axis to drive a rotation direction regulator fixed with the fourth section of launching pipeline (1-6 e) to rotate to different positions; the spiral direction regulator extrudes and rubs tennis balls passing through the pipeline through a rectangular friction plate extending into the pipeline, and as the surfaces of other parts except the extrusion plates in the fourth section of the transmission pipeline (1-6 e) are smoother than the surfaces of the friction plates, the passing tennis balls have a certain spiral direction after being unevenly rubbed, so that the tennis balls with various spiral directions can be transmitted; when tennis balls of different types are used, the extrusion force and the friction force of the friction plate on the tennis balls are changed by manually adjusting the relative deep amount of the friction plate in the rotation direction regulator, so that the tennis balls are prevented from being injured.