CN110251923B - Tennis service trolley - Google Patents
Tennis service trolley Download PDFInfo
- Publication number
- CN110251923B CN110251923B CN201910537382.4A CN201910537382A CN110251923B CN 110251923 B CN110251923 B CN 110251923B CN 201910537382 A CN201910537382 A CN 201910537382A CN 110251923 B CN110251923 B CN 110251923B
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- CN
- China
- Prior art keywords
- ball
- tennis
- motor
- fixed
- sorting
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000010354 integration Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/38—Training appliances or apparatus for special sports for tennis
- A63B69/385—Training appliances or apparatus for special sports for tennis for practising the serve
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
Abstract
The invention discloses a tennis service robot, which comprises: a handle assembly; a frame; the bottom plate is provided with a ball leakage hole; sorting the box body; sorting motors; the turntable is fixed with the rotating shaft of the sorting motor, a plurality of sorting holes distributed according to the circumference are formed in the turntable, when tennis balls in the sorting box body fall into the sorting holes, the tennis balls can rotate along with the turntable, and when the tennis balls rotate to the ball leaking holes, the tennis balls can leak Kong Zhuila; the service plate is provided with an upper motor; a lower motor; a ball feeding wheel; a ball launching wheel; the tennis ball falling from the ball leakage hole can only enter the space between the upper ball serving wheel and the lower ball serving wheel along the channel between the clamping plate and the upper ball serving wheel, and is pressed by the upper ball serving wheel and the lower ball serving wheel which rotate in opposite directions to be ejected along the tangential direction, so that ball serving is completed; a controller for controlling each electrical component; the ball-serving and ball-picking integrated robot has the beneficial effects of reasonable structure, integration of ball serving and ball picking and powerful ball serving function.
Description
Technical Field
The invention relates to a tennis service robot.
Background
The enthusiast of tennis activities has been increasing, the amount of tennis playing exercise is very large, a great deal of physical power is required for serving, catching and picking up the tennis, and when one wants to entertain and train, the enthusiast is very inconvenient, if there is a tennis service car, the enthusiast can automatically serve and pick up the tennis, and great convenience and fun can be brought to the enthusiast.
Disclosure of Invention
According to the defects, the invention provides the tennis service vehicle which can pick up and serve the tennis and brings great convenience and fun for single person entertainment and training.
The technical scheme of the invention is as follows:
a tennis service robot comprising:
the bicycle comprises a handlebar assembly, a bicycle body, a bicycle cover and a bicycle cover, wherein the handlebar assembly is provided with a handle, a front wheel, a speed change switch and a brake device, and the front wheel is driven by a bicycle motor;
the vehicle frame is rotatably connected with the handle assembly, at least 2 wheels are arranged on the vehicle frame, and a rechargeable battery is also arranged on the vehicle frame;
it is characterized by also comprising a tennis ball sorting component and a ball sending component, wherein,
tennis ball sorting assembly, comprising:
the bottom plate is fixed with the frame and provided with a ball leakage hole;
the sorting box body is fixed with the bottom plate, and a turntable hole is formed in the bottom of the sorting box body;
a sorting motor, the shell of which is fixed on the bottom plate;
the turntable is fixed with the rotating shaft of the sorting motor, is positioned below the turntable hole of the sorting box body, is provided with a plurality of sorting holes distributed according to the circumference, can rotate along with the turntable when tennis falls into the sorting holes, and can leak balls Kong Zhuila when the tennis rotates to the ball leaking hole;
a service assembly, comprising:
a service plate fixed to the bottom plate;
an upper motor, the shell of which is fixed on the service plate;
the shell of the lower motor is fixed on the service plate and is positioned below the upper motor;
the upper ball serving wheel is fixed with the rotating shaft of the upper motor, and the circumferential surface of the upper ball serving wheel is provided with an upper concave surface;
the lower ball serving wheel is fixed with the rotating shaft of the lower motor, a lower inner concave surface is arranged on the circumferential surface of the lower motor, and the lower ball serving wheel is positioned below the upper ball serving wheel;
the clamping plate is arc-shaped, is fixed on the ball serving plate and is arranged concentrically with the upper ball serving wheel, the upper end of the clamping plate is close to the bottom plate, the lower end of the clamping plate is close to the lower ball serving wheel, and tennis balls falling from the ball leakage holes can only enter a space between the upper ball serving wheel and the lower ball serving wheel along a channel between the clamping plate and the upper ball serving wheel and are pressed by the upper ball serving wheel and the lower ball serving wheel which rotate in opposite directions to be ejected along a tangential direction, so that ball serving is completed;
and the controller is electrically connected with the electric control components in the vehicle motor, the upper motor, the lower motor, the sorting motor, the speed change switch and the brake device, and the rechargeable battery supplies power to the controller.
It should be noted that the structure of the handle assembly is the same as that of the prior art front-drive electric bicycle.
In order to control the ball serving in the left-right direction, the ball serving machine further comprises:
the lower part of the vertical rod is fixed with the service plate, and the top of the vertical rod is rotatably connected with the bottom plate;
the shell of the left-right swinging motor is fixed with the bottom plate, and the left-right swinging motor is electrically connected with the controller;
one end of the left and right eccentric rods is fixed with the rotating shaft of the left and right swinging motor;
a left connecting rod and a right connecting rod, one end of which is hinged with the service plate, and the other end of which is hinged with the other ends of the left eccentric rod and the right eccentric rod;
the controller can control the left-right swing motor to rotate forward or reversely by an angle, the service plate can rotate leftwards or rightwards by an angle, and the tennis ball can deviate leftwards or rightwards by an angle to be launched.
It should be noted that the tee plate needs to be rotated to the left or right by a reasonable angle, otherwise, tennis balls cannot enter the channel between the clamping plate and the upper tee wheel.
Preferably, the angle of deviation of the tennis ball to the left or right is 15 degrees or less.
In order to control the ball serving in the up-down direction, the ball serving plate consists of an upper ball serving plate and a lower ball serving plate, wherein the upper ball serving plate is fixed with the vertical rod and hinged with the left connecting rod and the right connecting rod, the lower ball serving plate is rotatably connected and fixed with the vertical rod, and the clamping plate, the upper motor and the lower motor are fixed with the lower ball serving plate;
further comprises:
the shell of the up-down swing motor is fixed with the upper ball-serving plate, and the up-down swing motor is electrically connected with the controller;
an upper and lower eccentric rod, one end of which is fixed with the rotating shaft of the upper and lower swing motor;
one end of the upper connecting rod and one end of the lower connecting rod are hinged with the lower ball serving plate, and the other end of the upper connecting rod and the other end of the upper eccentric rod are hinged with the other end of the upper eccentric rod and the other end of the lower eccentric rod;
the controller can control the up-down swing motor to rotate forward or reversely by an angle, the lower ball serving plate can rotate upwards or downwards by an angle, and the tennis ball can deviate upwards or downwards by an angle to serve and shoot out.
It should be noted that the lower serve plate needs to be able to rotate up or down by a reasonable angle.
Preferably, the angle of the tennis ball which deviates upward or downward from the launch of the tennis ball is 15 degrees or less.
For convenient ball picking, still include ball picking cylinder, it is provided with:
the number of the disc surfaces is two;
the two ends of the central shaft are respectively fixed with the two disc surfaces, and the central shaft is rotatably and detachably arranged at the tail part of the frame;
the two ends of the hard rods are respectively fixed with the two disc surfaces, the distance between every two adjacent hard rods is smaller than the diameter of the tennis ball, the ball picking cylinder can rotate close to the ground when the service car moves, the tennis ball passes through the gap between the hard rods and enters the ball picking cylinder, and the tennis ball can deform elastically.
The disc surface is provided with a plurality of ball discharging outlets which can pour out the tennis balls.
The center of the turntable is provided with a cone which can prevent the tennis balls from staying in the center of the turntable.
The bottom of letter sorting box is fixed with presses the ball piece, should press the ball piece to be located and leak ball hole and be close to the carousel, follow carousel letter sorting hole and get into the tennis in ball hole that leaks, can be pressed the ball piece and can't upwards rebound from letter sorting hole.
In order to realize automatic ball serving, the controller is provided with a plurality of switch keys and a state display device and is controlled by the PLC, the left or right, upward or downward angles of the tennis balls can be set by operating the switch keys, and the number of the tennis balls to be served each time, the speed of flying out of the tennis balls and the number of the ball serving in unit time are set.
The ball-serving and ball-picking integrated robot has the beneficial effects of reasonable structure, integration of ball serving and ball picking and powerful ball serving function.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic view showing the structure of the upper and lower serve boards according to the present invention.
Fig. 3 is a schematic structural diagram of a clamping plate according to the present invention.
Fig. 4 is a schematic view of the structure of the lower ball-serving wheel and the upper ball-serving wheel according to the present invention.
Detailed Description
The invention will now be further described with reference to the accompanying drawings:
as shown, a tennis service robot, comprising:
a handlebar assembly 1 provided with a handlebar, front wheels, a speed change switch and a brake device, wherein the front wheels are driven by a vehicle motor;
the vehicle frame 2 is rotatably connected with the handle assembly 1, at least 2 wheels are arranged on the vehicle frame 2, and a rechargeable battery is also arranged on the vehicle frame 2;
and also comprises a tennis ball sorting component and a service component, wherein,
tennis ball sorting assembly, comprising:
the bottom plate 30 is fixed with the frame 2, and a ball leakage hole 301 is formed in the bottom plate 30;
the sorting box body 31 is fixed with the bottom plate 30, and a turntable hole is formed in the bottom of the sorting box body 31;
a sorting motor 33 whose housing is fixed to the bottom plate 30;
the turntable 32 is fixed with the rotating shaft of the sorting motor 33, the turntable 32 is positioned below the turntable hole of the sorting box body 31, a plurality of sorting holes 321 distributed according to the circumference are formed in the turntable 32, when tennis balls 4 fall into the sorting holes 321, the tennis balls 4 can rotate along with the turntable 32, and when the tennis balls 4 rotate to the ball leakage holes 301, the tennis balls can fall from the ball leakage holes 301;
a service assembly, comprising:
a service plate fixed to the bottom plate 30;
an upper motor 51 whose housing is fixed to the service plate;
a lower motor, the housing of which is fixed on the service plate and is positioned below the upper motor 51;
an upper service wheel 52 fixed to a rotation shaft of the upper motor 51, the upper service wheel 52 having an upper concave surface 521 on a circumferential surface thereof;
a lower service wheel 53 fixed to a rotating shaft of the lower motor, a lower concave surface 531 being provided on a circumferential surface of the lower motor, the lower service wheel 53 being located below the upper service wheel 52;
a clamping plate 54 having a circular arc shape, being fixed on the tee plate and being concentrically arranged with the upper tee wheel 52, wherein the upper end of the clamping plate 54 is close to the bottom plate 30, the lower end is close to the lower tee wheel 53, and the tennis ball 4 dropped from the ball leakage hole 301 can only enter the space between the upper tee wheel 52 and the lower tee wheel 53 along the channel between the clamping plate 54 and the upper tee wheel 52, and is pressed by the upper tee wheel 52 and the lower tee wheel 53 which rotate in the opposite direction to be ejected along the tangential direction, thereby completing the tee;
and a controller electrically connected with the electric control parts in the vehicle motor, the upper motor 51, the lower motor, the sorting motor 33, the speed change switch and the brake device, and a rechargeable battery supplies power to the controller.
Further comprises:
a vertical bar 61 having a lower portion fixed to the service plate and a top rotatably coupled to the bottom plate 30;
a left-right swing motor 64, the housing of which is fixed to the bottom plate 30, the left-right swing motor 64 being electrically connected to the controller;
a left and right eccentric rod 63 having one end fixed to a rotation shaft of the left and right swing motor 64;
a left and right link 62 having one end hinged to the service plate and the other end hinged to the other end of the left and right eccentric rods 63;
the controller can control the left-right swing motor 64 to rotate forward or reverse by an angle, the service plate can rotate left or right by an angle, and the tennis ball 4 can be launched by a service angle deviating left or right.
The angle of deviation of the tennis ball 4 to the left or right is 15 degrees or less.
The upper serving plate 56 is fixed with the vertical rod 61 and hinged with the left and right connecting rods 62, the lower serving plate 55 is rotatably connected and fixed with the vertical rod 61, and the clamping plate 54, the upper motor 51 and the lower motor are fixed with the lower serving plate 55;
further comprises:
an up-and-down swing motor 59, the housing of which is fixed to the upper ball-serving plate 56, the up-and-down swing motor 59 being electrically connected to the controller;
an upper and lower eccentric rod 58 having one end fixed to a rotation shaft of the upper and lower swing motor 59;
an upper and lower link 57 having one end hinged to the lower tee 55 and the other end hinged to the other end of the upper and lower eccentric rods 58;
the controller can control the up-down swing motor 59 to rotate forward or backward by an angle, the lower ball-launching plate 55 can rotate upward or downward by an angle, and the tennis ball 4 can launch out by being deviated upward or downward by an angle.
The tennis ball 4 is deflected upward or downward by an angle of 15 degrees or less from the launch of the service ball.
Still include picking up the ball drum, it is provided with:
the number of the disc surfaces 71 is two;
the two ends of the central shaft 73 are respectively fixed with the two disc surfaces 71, and the central shaft 73 is rotatably and detachably arranged at the tail part of the frame 2;
the two ends of the hard bars 72 are respectively fixed with the two disc surfaces 71, the distance between the two adjacent hard bars 72 is smaller than the diameter of the tennis ball 4, the ball picking cylinder can rotate close to the ground when the service car moves, and the tennis ball 4 passes through the gap between the hard bars 72 and enters the ball picking cylinder.
The disc face 71 is provided with a plurality of ball discharge outlets 711, and the ball discharge outlets 711 can discharge tennis balls 4.
The turntable 32 is provided with a cone 322 at the center, which cone 322 prevents the tennis ball 4 from staying in the center of the turntable 32.
The bottom of the sorting box 31 is fixed with a ball pressing piece 311, the ball pressing piece 311 is positioned right above the ball leaking hole 301 and is close to the turntable 32, and tennis balls 4 entering the ball leaking hole 301 from the sorting hole 321 of the turntable 32 can be pressed by the ball pressing piece 311 and cannot rebound upwards from the sorting hole 321.
The controller is provided with a plurality of switch keys and a state display device and is controlled by the PLC, and the left or right, upward or downward angles of the tennis balls 4 can be set by operating the switch keys, and the number of the tennis balls 4, the speed of flying out and the number of serving balls per unit time are set.
Claims (6)
1. A tennis service robot comprising:
a handlebar assembly (1) provided with a handlebar, a front wheel, a speed change switch and a brake device, wherein the front wheel is driven by a motor of the bicycle;
the vehicle frame (2) is rotatably connected with the handle assembly (1), at least 2 wheels are arranged on the vehicle frame (2), and a rechargeable battery is also arranged on the vehicle frame (2);
it is characterized by also comprising a tennis ball sorting component and a ball sending component, wherein,
tennis ball sorting assembly, comprising:
the bottom plate (30) is fixed with the frame (2), and a ball leakage hole (301) is formed in the bottom plate (30);
the sorting box body (31) is fixed with the bottom plate (30), and a turntable hole is formed in the bottom of the sorting box body (31);
a sorting motor (33) the housing of which is fixed to the base plate (30);
the turntable (32) is fixed with the rotating shaft of the sorting motor (33), the turntable (32) is positioned below the turntable hole of the sorting box body (31), a plurality of sorting holes (321) distributed according to the circumference are formed in the turntable (32), when tennis balls (4) fall into the sorting holes (321), the tennis balls (4) can rotate along with the turntable (32), and when the tennis balls (4) rotate to the ball leakage holes (301), the tennis balls can fall from the ball leakage holes (301);
the center of the turntable (32) is provided with a conical body (322), and the conical body (322) can prevent the tennis balls (4) from staying in the center of the turntable (32);
a ball pressing sheet (311) is fixed at the bottom of the sorting box body (31), the ball pressing sheet (311) is positioned right above the ball leaking hole (301) and is close to the turntable (32), tennis balls (4) entering the ball leaking hole (301) from the sorting hole (321) of the turntable (32) can be pressed by the ball pressing sheet (311), and cannot rebound upwards from the sorting hole (321);
a service assembly, comprising:
a service plate fixed to the bottom plate (30);
an upper motor (51) whose housing is fixed to the service plate;
a lower motor, the shell of which is fixed on the service plate and is positioned below the upper motor (51);
an upper ball-serving wheel (52) fixed with the rotating shaft of the upper motor (51), wherein an upper concave surface (521) is arranged on the circumferential surface of the upper ball-serving wheel (52);
the lower ball sending wheel (53) is fixed with the rotating shaft of the lower motor, a lower concave surface (531) is arranged on the circumferential surface of the lower motor, and the lower ball sending wheel (53) is positioned below the upper ball sending wheel (52);
the clamping plate (54) is arc-shaped, is fixed on the ball serving plate and is concentrically arranged with the upper ball serving wheel (52), the upper end of the clamping plate (54) is close to the bottom plate (30), the lower end of the clamping plate is close to the lower ball serving wheel (53), and tennis balls (4) falling from the ball leakage holes (301) can only enter a space between the upper ball serving wheel (52) and the lower ball serving wheel (53) along a channel between the clamping plate (54) and the upper ball serving wheel (52) and are pressed by the upper ball serving wheel (52) and the lower ball serving wheel (53) which rotate in opposite directions and are ejected out along the tangential direction to finish ball serving;
the controller is electrically connected with the electric control components in the vehicle motor, the upper motor (51), the lower motor, the sorting motor (33), the variable speed switch and the brake device, and the rechargeable battery supplies power to the controller;
the tennis service robot further comprises:
a vertical bar (61) having a lower portion fixedly coupled to the tee plate and a top rotatably coupled to the bottom plate (30);
a left-right swing motor (64), the shell of which is fixed with the bottom plate (30), the left-right swing motor (64) is electrically connected with the controller;
a left and right eccentric rod (63) one end of which is fixed to a rotation shaft of the left and right swing motor (64);
a left and right connecting rod (62) with one end hinged with the service plate and the other end hinged with the other end of the left and right eccentric rod (63);
the controller can control the left-right swing motor (64) to rotate forwards or reversely by an angle, the service plate can rotate leftwards or rightwards by an angle, and the tennis ball (4) can be launched by deviating leftwards or rightwards by an angle;
the upper ball serving plate (56) is fixed with the vertical rod (61) and hinged with the left connecting rod and the right connecting rod (62), the lower ball serving plate (55) is rotatably connected and fixed with the vertical rod (61), and the clamping plate (54), the upper motor (51) and the lower motor are fixed with the lower ball serving plate (55);
further comprises:
an up-down swing motor (59), the shell of which is fixed with the upper ball-serving plate (56), the up-down swing motor (59) is electrically connected with the controller;
an upper and lower eccentric rod (58) having one end fixed to a rotation shaft of the upper and lower swing motor (59);
an upper and lower link (57) having one end hinged to the lower tee (55) and the other end hinged to the other end of the upper and lower eccentric rods (58);
the controller can control the up-down swing motor (59) to rotate forward or backward by an angle, the lower ball-serving plate (55) can rotate upward or downward by an angle, and the tennis ball (4) can be launched from the ball at an angle deviating upward or downward.
2. A tennis service vehicle according to claim 1, wherein said tennis ball (4) is deviated to the left or right by an angle of 15 degrees or less.
3. A tennis service vehicle according to claim 2, wherein said tennis ball (4) is deflected upwardly or downwardly from the launch angle of 15 degrees or less.
4. A tennis service robot according to any one of claims 1-3, further comprising a ball pick-up cylinder provided with:
the disc surface (71) is provided with two disc surfaces;
the two ends of the central shaft (73) are respectively fixed with the two disc surfaces (71), and the central shaft (73) is rotatably and detachably arranged at the tail part of the frame (2);
the two ends of the hard rods (72) are respectively fixed with the two disc surfaces (71), the distance between every two adjacent hard rods (72) is smaller than the diameter of the tennis ball (4), the ball picking cylinder can rotate close to the ground when the service car moves, and the tennis ball (4) passes through the gap between the hard rods (72) and enters the ball picking cylinder.
5. A tennis service trolley according to claim 4, wherein said disc surface (71) is provided with a plurality of ball discharge outlets (711), said ball discharge outlets (711) being adapted to discharge said tennis balls (4).
6. A tennis service vehicle according to any one of claims 1-3, wherein the controller is provided with a switch button and a status display device, and the left or right, upward or downward angle of the tennis ball (4) can be set by operating the switch button, and the number of tennis balls (4) to be delivered each time, the speed at which the tennis balls fly out, and the number of service balls per unit time are set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910537382.4A CN110251923B (en) | 2019-06-20 | 2019-06-20 | Tennis service trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910537382.4A CN110251923B (en) | 2019-06-20 | 2019-06-20 | Tennis service trolley |
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| Publication Number | Publication Date |
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| CN110251923A CN110251923A (en) | 2019-09-20 |
| CN110251923B true CN110251923B (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910537382.4A Active CN110251923B (en) | 2019-06-20 | 2019-06-20 | Tennis service trolley |
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| CN (1) | CN110251923B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112473099B (en) * | 2020-11-16 | 2021-09-24 | 董礼利 | Dedicated automatic ball equipment of picking up in tennis training place |
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| CN110251923A (en) | 2019-09-20 |
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