CN110404241B

CN110404241B - Wide-angle intelligent tennis ball serving machine

Info

Publication number: CN110404241B
Application number: CN201810389334.0A
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Wang Wenwen
Priority date: 2018-04-26
Filing date: 2018-04-26
Publication date: 2020-12-11
Anticipated expiration: 2038-04-26
Also published as: CN110404241A

Abstract

The invention belongs to the field of sports equipment, and particularly discloses a wide-angle intelligent tennis serving machine which comprises a base frame, a launching frame, a serving mechanism, a ball control motor, a ball conveying part and a controller. One side of the launching frame is fixed with a cylindrical right rotating shaft assembled with the base frame, and one end of the right rotating shaft is communicated with the ball conveying pipe of the ball conveying part. The ball sending mechanism comprises a ball sending driving mechanism, a launching driving mechanism and a launching mechanism which are fixed on the launching frame. The side wall of the right rotating shaft is provided with two ball outlet holes and a pushing hole which are oppositely arranged. The ball outlet hole is just opposite to the ball inlet hole on the launching tube of the launching mechanism, and the ball outlet hole and the ball inlet hole are communicated through a pipeline. The ball feeding driving mechanism has one pushing shaft penetrating the pushing hole for pushing tennis ball into the launching pipe, and the launching shaft accelerates and launches tennis ball inside the launching pipe. The tennis ball pitching machine is controlled by the controller to adjust the launching angle and launching speed of the tennis balls in the longitudinal direction and the transverse direction, the launching angle range of the tennis balls is wide, the pitching mode is complex, the training difficulty is high, and the training requirements of people at different levels are met.

Description

Wide-angle intelligent tennis ball serving machine

Technical Field

The invention relates to a tennis ball serving machine, in particular to a wide-angle intelligent tennis ball serving machine suitable for tennis training, and belongs to the field of sports equipment.

Background

In order to meet the requirement of tennis hitting training, a tennis ball serving machine appears on the market. Through tennis service robot, the user does not need the special messenger to accompany the training, though can relapse, the training is hit in the acquisition of multi-angle, but the scope of the ball launch angle of current tennis service robot is narrower, launch highly limited, the ball track change is few, and the placement position is single, the training degree of difficulty is low, can't obtain diversified tennis and hit the exercise, can't satisfy different levels, different personnel's training demand, and intelligent level is lower, needs artifical the regulation in the use to the adjustment service mode. Therefore, there is a need to develop a wide-angle intelligent tennis serving machine to overcome the problems in the prior art.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides the wide-angle intelligent tennis serving machine, the controller controls the serving machine to adjust the launching angle of the tennis in the transverse direction, the launching angle in the longitudinal direction and the launching speed, the launching mode is changed at multiple ends, and the wide-angle intelligent tennis serving machine is suitable for the training requirements of different people.

The technical scheme of the wide-angle intelligent tennis serving machine provided by the invention is as follows.

The utility model provides a wide angle intelligent tennis service robot, its design essential lies in, the service robot includes:

the base frame is a bearing foundation of the pitching machine; the base frame comprises a base frame body, a supporting seat and a swing motor; the supporting seat is assembled on the base frame body, a driving shaft of the supporting seat is connected with the base frame body shaft, and the swing motor drives the supporting seat to rotate through the driving shaft so as to adjust the transverse launching angle of the tennis;

the launching frame is suitable for bearing the ball serving mechanism and comprises a frame body, a left rotating shaft fixed on the left side of the frame body and a right rotating shaft fixed on the right side of the frame body; the left rotating shaft and the right rotating shaft are respectively connected with a supporting frame shaft of the supporting seat; the right rotating shaft is of a hollow cylindrical structure;

a serving mechanism adapted for tennis ball launching; the ball sending mechanism comprises a ball sending driving mechanism, a launching driving mechanism and a launching mechanism which are fixed on the launching frame; the launching mechanism at least comprises a launching tube with one closed end, a ball driving part and a thrust rod; one end part of the thrust rod is fixed with the ball driving part positioned in the launching tube, and the other end part of the thrust rod penetrates through the closed end of the launching tube and extends out; a ball inlet hole suitable for inputting tennis balls is formed in the side wall of the launching tube, a ball outlet hole suitable for outputting tennis balls is formed in the side wall of the right rotating shaft, the ball inlet hole and the ball outlet hole are opposite in positive phase and are communicated through a pipeline, and tennis balls suitable for the left end part of the right rotating shaft are conveyed into the launching tube; a pushing hole is formed in the side wall of the right rotating shaft and is arranged opposite to the ball outlet hole in the positive phase, and a pushing shaft of the ball feeding driving mechanism penetrates through the pushing hole and extends into the right rotating shaft, so that tennis balls positioned at the left end part of the right rotating shaft are pushed into the launching tube and a next tennis ball is blocked at the left end part of the right rotating shaft; the launching driving mechanism is coaxially matched with the launching mechanism, and a launching shaft of the launching driving mechanism is fixedly connected with the other end of the thrust rod and is suitable for pushing the tennis ball in the launching tube to move in an accelerated way and launch the tennis ball;

the ball feeding part is suitable for storing and conveying tennis balls, and the output end of a ball conveying pipe of the ball feeding part is communicated with the right end part of the right rotating shaft;

the ball control motor is suitable for adjusting the launching angle of the tennis balls in the longitudinal direction and is connected with the left rotating shaft so as to drive the launching frame to rotate;

a controller adapted to control launching of a tennis ball; the swing motor, the ball feeding driving mechanism, the launching driving mechanism and the ball control motor are respectively and electrically connected with the controller.

In the implementation and application process, the invention also has the following further optional technical scheme.

Optionally, the supporting seat includes a base, a left supporting frame and a right supporting frame which are arranged on two opposite sides of the base and extend upwards, and a driving shaft which is fixed in the middle of the base and perpendicular to the base, wherein the driving shaft is located below the base, and the base of the supporting seat is assembled with the base frame body and located above the base.

Optionally, an output shaft of the swing motor is connected with the driving shaft through a speed reducer.

Optionally, the left rotating shaft is fixed to the top end of the left support frame through a bearing and a bearing seat; the right rotating shaft is fixed with the top end part of the right supporting frame through a bearing and a bearing seat.

Optionally, the inner surfaces of the right rotating shaft and the launch tube and the surface of the ball driving part are respectively coated with a teflon coating.

Optionally, the output shaft of the ball control motor is connected with the left rotating shaft through a chain wheel mechanism or a gear mechanism shaft.

Optionally, the ball feeding driving mechanism and the launching driving mechanism are of the same structure, and each of the ball feeding driving mechanism and the launching driving mechanism comprises a cylinder body, a 1 st excitation coil and a 2 nd excitation coil which are fixed in the cylinder body, and a permanent magnet which is fixed on the pushing shaft or the launching shaft and is located at one end part in the cylinder body, and is suitable for driving the pushing shaft or the launching shaft to extend and retract.

Optionally, the ball feeding part comprises a ball storage hopper and a ball conveying pipe, an upper end of the ball conveying pipe is communicated with the bottom of the ball storage hopper, and a lower end of the ball conveying pipe is communicated with a right end of the right rotating shaft.

Optionally, the swing motor and the ball control motor are stepping motors.

Optionally, the pitching machine further comprises wheels, and the wheels are at least composed of a rear left wheel and a rear right wheel arranged on the rear side of the base frame body, and a front left wheel and a front right wheel arranged on the front side of the base frame body.

Compared with the prior art, the invention has the beneficial effects that: the controller controls the supporting seat to rotate relative to the base frame body to adjust the launching angle of the tennis ball in the transverse direction, controls the launching driving module to adjust the output force of the launching driving mechanism to adjust the launching speed of the tennis ball, controls the launching frame to rotate to adjust the launching angle of the tennis ball in the longitudinal direction, adjusts the tennis ball in the longitudinal launching angle range of 0-90 degrees at will, adjusts the tennis ball in the transverse launching angle range of 0-180 degrees at will, and has no limitation in launching angle, so that the launching angle, speed and landing point of the tennis ball launched by the launching vehicle are variable, randomness is provided, the real launching mode is simulated better, the training difficulty is high, and the training requirements of different levels and different people are met.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a wide-angle intelligent tennis ball serving machine in an embodiment.

Fig. 2 is a structural schematic diagram of the assembly of the launching rack and the ball serving mechanism.

Fig. 3 is a schematic structural view of the base frame body and the wheel.

Fig. 4 is a partial cross-sectional view of the left side of the pitching machine in fig. 1.

Fig. 5 is a schematic top view of the base frame.

Fig. 6 is a functional block diagram of the control principle of the controller.

Wherein, 10-base frame, 11-base frame body, 12-support base, 121-base, 122-left support frame, 123-right support frame, 124-driving shaft, 13-swing motor, 14-thrust bearing, 15-wheel, 151-rear left wheel, 152-rear right wheel, 153-front left wheel, 154-front right wheel, 20-launching frame, 21-frame body, 22-left rotating shaft, 23-right rotating shaft, 231-ball outlet hole, 232-pushing hole, 30-ball delivery driving mechanism, 40-launching mechanism, 41-launching tube, 411-ball inlet hole, 42-ball driving part, 43-thrust rod, 50-launching driving mechanism, 51-cylinder body, 52-permanent magnet, 53-magnet exciting coil, 60-ball delivery part, 61-a ball storage hopper, 62-a ball conveying pipe, 70-a ball control motor and 80-a controller.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the movement, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly.

As an embodiment of the present invention, a wide-angle intelligent tennis ball serving machine, as shown in fig. 1 to 6, includes a base frame 10, a launching frame 20, a ball feeding driving mechanism 30, a launching mechanism 40, a launching driving mechanism 50, a ball feeding portion 60, a ball control motor 70, and a controller 80. The ball-feeding driving mechanism 30, the launching driving mechanism 50 and the launching mechanism 40 constitute a ball-serving mechanism of the ball-serving machine. The base frame 10 includes a base frame body 11, a support base 12 and a swing motor 13, and left and right opposite sides of the support base 12 are respectively provided with a left support frame 122 and a right support frame 123 arranged in an upright direction, as shown in fig. 4 and 5. The support base 12 is assembled on the base frame body 11, the driving shaft 124 of the support base 12 is connected with the shaft of the base frame body 11, and the swing motor 13 drives the support base 12 to rotate and deflect through the driving shaft 124 so as to adjust the launching angle of the tennis ball in the transverse direction. The service mechanism is fixed on the launching rack 20, the launching rack 20 is vertically arranged, the left side and the right side are respectively fixed with a left rotating shaft 22 and a right rotating shaft 23, and the right rotating shaft 23 is of a hollow cylindrical structure. The firing mechanism 40 includes a firing tube 41 closed at one end, a ball drive portion 42, and a thrust rod 43. One end of the thrust rod 43 is fixed to the ball driving portion 42 located inside the launch tube 41, and the other end thereof extends through the closed end and projects. The launcher 20 is fixedly connected with the left support frame 122 and the right support frame 123 through the left rotating shaft 22 and the right rotating shaft 23. The ball inlet 411 arranged on the side wall of the launching tube 41 and suitable for tennis input is arranged opposite to the ball outlet 231 arranged on the side wall of the right rotating shaft 23 and suitable for tennis output, and the ball inlet 411 is connected with the ball outlet 231 through a pipeline. The pushing shaft of the ball-feeding driving mechanism 30 penetrates through the pushing hole 232 on the side wall of the right rotating shaft 23 and extends into the right rotating shaft 23, so that the tennis ball at the left end of the right rotating shaft 23 can be pushed into the launching tube 41, and the next tennis ball is stopped at the left end of the right rotating shaft 23, thereby preventing the tennis balls from entering the launching mechanism 40 at the same time and being jammed. The launching shaft of the launching driving mechanism 50 is fixedly connected with the other end of the thrust rod 43 and is suitable for pushing the tennis ball in the launching tube 41 to accelerate and launch. The lower end portion of the ball delivery pipe 62 of the ball delivery part 60 communicates with the right end portion of the right rotary shaft 23, as shown in fig. 5. The ball control motor 70 is connected with the left rotating shaft 22 and is suitable for driving the launching rack 20 to rotate so as to adjust the launching angle of the tennis ball in the longitudinal direction.

Tennis ball moves to the left end of the right rotating shaft 23 through the ball conveying pipe 62 of the ball conveying part 60 and the right end of the right rotating shaft 23 and is pushed by the pushing shaft of the ball conveying driving mechanism 30, the tennis ball enters the launching tube 41 through the ball outlet 231 and the ball inlet 411 and is positioned at the closed end side of the launching tube 41, the launching shaft of the launching driving mechanism 50 extends out to push the tennis ball to move so as to accelerate the tennis ball, and the tennis ball is launched at the stroke tail end of the launching shaft, so that the launching of the tennis ball is realized. The controller 80 controls the swing motor 13 to drive the supporting seat 12 to rotate so as to adjust the launching angle of the tennis ball in the transverse direction, controls the ball control motor 70 to drive the launching rack 20 to rotate so as to adjust the launching angle of the tennis ball in the longitudinal direction, and controls the exciting current of the launching driving module so as to adjust the launching speed of the tennis ball, the launching angle of the tennis ball in the longitudinal direction can be adjusted at will within the range of 0-90 degrees, the launching angle of the tennis ball in the transverse direction can be adjusted at will within the range of 0-180 degrees, the launching angle of the tennis ball is wide and unlimited, so that the launching angle, the launching speed and the landing point of the tennis ball launched by the launching vehicle are variable, randomness is provided, a real launching mode is simulated better, the training difficulty is higher.

The base frame 10 is a bearing base of the pitching machine and is suitable for adjusting the launching angle of the tennis ball in the transverse direction. As shown in fig. 4 and 5, the base frame 10 at least includes a base frame body 11, a support base 12, and a swing motor 13. The supporting base 12 includes a disc-shaped base 121, two supporting frames and a driving shaft 124 vertically arranged, as shown in fig. 4, bottom end portions of the two supporting frames are respectively fixed to left and right opposite side sides of the base 121, as shown in fig. 5, a left supporting frame 122 located on the left side and a right supporting frame 123 located on the right side are formed for bearing the launcher 20, that is, the supporting frames include the left supporting frame 122 and the right supporting frame 123. The driving shaft 124 is vertically disposed, an upper end portion of the driving shaft 124 is fixed to a central portion of the base 121 and is located below the base 121, and the driving shaft 124 is perpendicular to the base 121. The bottom end face of the supporting seat 12 is attached to the base frame body 11 through the thrust bearing 14, which can be understood as that the bottom end face of the supporting seat 12, the thrust bearing 14 and the top end face of the base frame body 11 are sequentially attached, and the driving shaft 124 is assembled with the base frame body 11 and fixedly connected with the base frame body 11 through a shaft. The thrust bearing 14 serves to reduce resistance to rotation of the support base 12 relative to the base body 11. An output shaft of the swinging motor 13 is connected with the driving shaft 124 through a speed reducer, and the driving support base 12 rotates around the driving shaft 124 relative to the base frame body 11, so that the tennis ball launching angle in the transverse direction can be adjusted. The tennis ball launching angle in the transverse direction is continuously adjusted within the range of 0-180 degrees, wherein 0 and 180 degrees correspond to tennis ball launching in the transverse direction along the horizontal direction, such as leftward launching and rightward launching as shown in fig. 3, and the pitching machine has a wide-angle transverse launching angle, and can have any launching angle of 0-180 degrees along the horizontal direction. According to the requirement, the supporting seat 12 of the base frame 10 can be operated to rotate in the range of 0-360 degrees along the horizontal plane, the pitching machine can shoot tennis balls in all directions, and the purpose that one pitching machine is suitable for simultaneous training of multiple persons is achieved.

To facilitate the movement of the pitching machine, the base frame 10 is provided with wheels 15. The number of the wheels 15 is 4, and as shown in fig. 3, the wheels include a rear left wheel 151 disposed on the rear side (lower side in fig. 3) of the base frame body 11, a rear right wheel 152 disposed on the rear side of the base frame body 11, a front left wheel 153 disposed on the front side (upper side in fig. 3) of the base frame body 11, and a front right wheel 154 disposed on the front side of the base frame body 11. The ball-launching side of the pitching machine is understood to be the front side of the pitching machine, i.e., the side opposite to the user, and also the front side of the base body 11.

Wherein the launcher 20 is adapted to carry a serving mechanism. The stand 20 includes a frame body 21, a left rotating shaft 22 fixed to a left side of the frame body 21, and a right rotating shaft 23 fixed to a right side of the frame body 21. The frame body 21 may be a truss with a rigid structure fixed by section assembly, or may be formed by a plate with rigidity, so as to fix the assembly and carry the ball serving mechanism, and drive the launching frame 20 to rotate to adjust the launching angle of the tennis ball in the longitudinal direction. The launcher 20 is vertically arranged, and the launcher 20 is respectively connected with the left support frame 122 and the right support frame 123 of the support base 12 through the left rotating shaft 22 and the right rotating shaft 23; as a further alternative, the left rotating shaft 22 is fixed to the top end portion of the left supporting frame 122 through a bearing and a bearing seat, and the left rotating shaft 22 rotates around the axis of the left supporting frame 122 relative to the left supporting frame; the right rotating shaft 23 is fixed to the top end of the right support frame through a bearing and a bearing seat, and the right rotating shaft 23 rotates around the axis of the right support frame 123 relative to the right support frame, so as to reduce the resistance of the launcher 20 to the rotation relative to the base frame 10. The right rotating shaft 23 is a hollow cylindrical structure, and one end of the right rotating shaft is closed, that is, one end (left end) fixed to the launching rack 20 is a closed end, so as to limit a tennis ball sliding and rolling to the left end of the launching rack 20, and the tennis ball is opposite to the ball outlet 231.

The main structure of the ball-delivering driving mechanism 30 and the launching driving mechanism 50 are the same, but the output thrust is different, wherein the output thrust of the launching driving mechanism 50 is much larger than the output thrust of the ball-delivering driving mechanism 30, and accordingly, the volume of the launching driving mechanism 50 is larger than that of the ball-delivering driving mechanism 30. Next, the main structural configurations of the ball feed drive mechanism 30 and the launch drive mechanism 50 will be described in detail, taking the launch drive mechanism 50 as an example. The launch drive mechanism 50, as shown in fig. 2, includes a cylinder 51, a launch shaft (/ push shaft, for the ball feed drive mechanism 30), an excitation coil 53, and a permanent magnet 52. The excitation coil 53 includes a 1 st excitation coil and a 2 nd excitation coil, and is used for driving the launching shaft (/ pushing shaft) to realize telescopic motion, outputting pushing force outwards, and accelerating and launching the tennis (/ pushing the tennis). The 1 st and 2 nd exciting coils are fixed in the cylinder 51 at both ends of the cylinder 51, and one end of the striking shaft is extended into the cylinder 51 and fixed with the permanent magnet 52 in the cylinder 51. Under the excitation of the 1 st and 2 nd field coils, the permanent magnet 52 drives the projecting shaft (/ push shaft) to extend and retract.

Wherein, the service mechanism is suitable for launching tennis balls. The service mechanism includes a ball delivery drive mechanism 30, a launch drive mechanism 50, and a launch mechanism 40. The ball feeding driving mechanism 30, the launching driving mechanism 50 and the launching mechanism 40 are respectively assembled and fixed with the launching frame 20, the launching mechanism 40 and the ball feeding driving mechanism 30 are respectively positioned at two opposite side sides of the right rotating shaft 23, as shown in fig. 2, the ball feeding driving mechanism 30 is vertically matched with the launching mechanism 40. The launching mechanism 40 is separated from the right rotating shaft 23, namely, a distance is kept, and the processing and the manufacturing are easy. The launching mechanism 40 is constituted by at least a launch tube 41, a ball drive portion 42, and a thrust rod 43. One end of the launch tube 41 is closed, as shown in fig. 2, i.e., the lower end of the launch tube 41 is closed. The thrust rod 43 has an upper end fixed to the ball driving portion 42 in the launch tube 41, and a lower end extending through and extending beyond the closed end of the launch tube 41 and below the launch tube 41, as shown in fig. 2. A ball inlet hole 411 suitable for tennis ball input is formed in the side wall of the launching tube 41, as shown in fig. 2, a ball outlet hole 231 suitable for tennis ball output is formed in the side wall of the right rotating shaft 23, the ball inlet hole 411 is opposite to the ball outlet hole 231, the ball inlet hole 411 is communicated with the ball outlet hole 231 through a pipeline, and tennis balls suitable for the left end portion of the right rotating shaft 23 are conveyed into the launching tube 41; i.e., the launch tube 41 is located below the right rotating shaft 23, as shown in fig. 1. The side wall of the right rotating shaft 23 is provided with a pushing hole 232, as shown in fig. 2, the pushing hole 232 and the ball discharging hole 231 are arranged in a positive opposition. The pushing shaft of the ball feeding driving mechanism 30 penetrates through the pushing hole 232 and extends into the right rotating shaft 23, so that the tennis ball positioned at the left end of the right rotating shaft 23 can be pushed into the launching tube 41, and the next tennis ball is stopped at the left end of the right rotating shaft 23, thereby preventing a plurality of tennis balls from being simultaneously conveyed into the launching tube 41 and causing ball jamming. The launching driving mechanism 50 is coaxially matched with the launching mechanism 40, and a launching shaft of the launching driving mechanism 50 is fixedly connected with the other end of the thrust rod 43, which is positioned below the launching tube 41, and is suitable for pushing the tennis ball positioned in the launching tube 41 to accelerate and launch. It should be noted that, as an alternative, the axis of the launching mechanism 40 may intersect the axis of the right rotating shaft 23 perpendicularly, but the processing and manufacturing difficulty is large, and the cost is high, and at this time, the ball outlet hole 231 and the communication pipeline between the ball inlet hole 411 and the ball outlet hole 231 are omitted.

As an improved scheme, a teflon (polytetrafluoroethylene) coating is respectively coated on the inner wall surface of the right rotating shaft 23 and the inner surface of the pipeline between the ball inlet 411 and the ball outlet 231, which is beneficial to reducing the resistance of the tennis ball during sliding and rolling from the right rotating shaft 23 into the launching tube 41, making the tennis ball smooth and roll, and improving the service efficiency. The inner wall surface of the launching tube 41 and the outer surface of the ball driving part 42 are respectively coated with a teflon coating, which is beneficial to the successful launching of tennis balls, reduces the energy loss during the accelerated launching of tennis balls, and enables the tennis balls to have higher launching speed, which is understood as the linear speed of the tennis balls.

Wherein, the ball sending part 60 is suitable for storing and delivering tennis balls. The ball feeding part 60 includes a ball storage bucket 61 and a ball conveying pipe 62. The ball storage 61 is used for storing tennis balls, as shown in fig. 1 and 4, the ball storage 61 is arranged at the top of the pitching machine, the ball delivery pipe 62 is vertically arranged, the upper end of the ball delivery pipe 62 is communicated with the bottom of the ball storage 61, the lower end is communicated with the right end of the right rotating shaft 23, and is suitable for delivering the tennis balls to the right rotating shaft 23, that is, the tennis balls in the ball storage 61 are delivered to the launching tube 41 through the ball delivery pipe 62, the right rotating shaft 23, the ball inlet 411 and the ball outlet 231, and are located at the closed end side of the launching tube 41 to be launched.

The controller 80 is adapted to control the pitching machine to adjust the pitching manner, such as adjusting the launching speed, the horizontal launching angle, and the vertical launching angle of the tennis ball. As shown in fig. 6, the controller 80 includes a microprocessor, and a 1 st motor driving module, a 2 nd motor driving module, a launching driving module, a ball sending driving module, and a network module electrically connected to the microprocessor. The launching driving module is formed by a current control circuit and is suitable for generating exciting current for coil excitation, operating the launching driving mechanism to accelerate and launch tennis balls, and adjusting the output force (/ power) of the launching driving mechanism by adjusting the magnitude of the exciting current so as to adjust the launching speed of the tennis balls; the ball feeding driving module is formed by a current control circuit and is suitable for generating exciting current for coil excitation and operating the ball feeding driving mechanism to push the tennis ball positioned at the left end part of the right rotating shaft 23 into the launching tube 41. The swing motor 13 is a stepping motor, the swing motor 13 is electrically connected with a 1 st motor driving module of the controller 80 through a 1 st stepping (motor) driver, the ball control motor 70 is a stepping motor, and the ball control motor 70 is electrically connected with a 2 nd motor driving module of the controller 80 through a 2 nd stepping (motor) driver; the ball feeding driving mechanism is electrically connected with the ball feeding driving module of the controller 80, and the launching driving mechanism is electrically connected with the launching driving module of the controller 80. The hardware configuration of the controller 80 is prior art, and may be constituted by a single chip or a PLC, which is not described in detail herein.

The operation principle of the pitching machine of the embodiment is as follows: tennis balls roll from the ball storage hopper 61 to the ball conveying pipe 62, roll into the right rotating shaft 23 through the ball conveying pipe 62, roll towards the left end of the right rotating shaft 23, and roll towards the left end of the right rotating shaft 23, when the tennis balls roll towards the left end side of the right rotating shaft 23 and are opposite to the ball outlet hole 231, the ball feeding driving mechanism is operated to move, the pushing shaft of the ball feeding driving mechanism extends out to push the tennis balls to move, and the tennis balls are pushed into the launching tube 41 through the ball outlet hole 231 and the ball inlet hole 411 and are positioned at the closed end side of the launching tube 41; when the tennis ball rolls into the launching tube 41, the launching driving mechanism is operated to extend the launching shaft of the launching driving mechanism, so that the tennis ball in the launching tube 41 is pushed and accelerated to launch the tennis ball, and one-time launching of the tennis ball is completed. Then, the ball feeding driving mechanism is operated, the pushing shaft of the ball feeding driving mechanism retracts and resets, and the next tennis ball rolls to the left end part of the right rotating shaft 23; the launching driving mechanism is operated to move, and the launching shaft of the launching driving mechanism retracts and resets; the ball feed drive mechanism is then operated to feed the next tennis ball into the launch tube 41, and the launch drive mechanism is then operated to accelerate and launch the next tennis ball, repeating this sequence, and launching the tennis balls in succession. The launching driving module is controlled to change the output exciting current and the output force of the launching driving mechanism to regulate the launching speed of the tennis ball. The ball control motor 70 is operated to drive the launching rack 20 to rotate to adjust the launching angle of the tennis ball in the longitudinal direction, and the launching angle of the tennis ball in the longitudinal direction is freely adjusted from 0 degree to 90 degrees, wherein 0 degree corresponds to the tennis ball launching forward along the horizontal direction, namely the launching tube 41 launches the tennis ball along the horizontal direction, and 90 degrees corresponds to the tennis ball launching upward along the vertical direction, namely the launching tube 41 launches the tennis ball upward along the vertical direction. The swing motor 13 is controlled to drive the support base 12 to rotate so as to adjust the launching angle of the tennis ball in the transverse direction, the launching angle of the tennis ball in the transverse direction can be adjusted within the range of 0-180 degrees, wherein the 0 degree and the 180 degree respectively correspond to the horizontal left launching and the horizontal right launching of the tennis ball, namely, the launching tube 41 horizontally launches the tennis ball left and the horizontal right launching. Therefore, the launching angle of the tennis ball is unlimited, the launching angle, the speed and the landing point of the tennis ball launched by the tennis ball launching vehicle are variable and random, the real ball launching mode is simulated better, the training difficulty is high, and the training requirements of different levels and different personnel are met. In addition, according to requirements, the swing motor 13 can be operated to drive the supporting seat 12 to rotate around the driving shaft 124 within the range of 0-360 degrees relative to the base frame body 11, namely, the supporting seat rotates for a circle, tennis balls can be transversely launched along any direction of 0-360 degrees, namely, the tennis balls are launched in all directions, and therefore the goal that one pitching machine is suitable for multiple persons to train simultaneously can be achieved. The tennis ball launching device has the advantages that the controller controls the ball serving machine to adjust the launching speed of the tennis balls and adjust the ball serving mode, the tennis balls can be freely, continuously and adjustably launched in the longitudinal direction and the transverse direction, the launching angle range of the tennis balls is wide, the launching angle is wide, the tennis balls are randomly changed, the launching height is various, the tennis ball tracks are variable, the falling point positions are randomly distributed, and the training difficulty is high. The service robot realizes that tennis balls are launched at different launching angles and fall to the ground in different places, better simulates a real service mode, has higher training difficulty, and meets the training requirements of different levels and different personnel.

Compared with the prior art, the invention has the following remarkable technical progress.

The controller controls the supporting seat to rotate relative to the base frame body to adjust the launching angle of the tennis ball in the transverse direction, controls the launching driving module to adjust the output force of the launching driving mechanism to adjust the launching speed of the tennis ball, controls the launching frame to rotate to adjust the launching angle of the tennis ball in the longitudinal direction, adjusts the tennis ball in the longitudinal launching angle range of 0-90 degrees at will, adjusts the tennis ball in the transverse launching angle range of 0-180 degrees at will, and has no limitation in launching angle, so that the launching angle, speed and landing point of the tennis ball launched by the launching vehicle are variable, randomness is provided, the real launching mode is simulated better, the training difficulty is high, and the training requirements of different levels and different people are met.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the foregoing description only for the purpose of illustrating the principles of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims, specification, and equivalents thereof.

Claims

1. The utility model provides a wide angle intelligent tennis service robot which characterized in that, service robot includes:

the base frame is a bearing foundation of the pitching machine; the base frame comprises a base frame body, a supporting seat and a swing motor; the support seat is assembled on the base frame body through a thrust bearing, a driving shaft fixed at the lower end of the support seat is connected with the base frame body shaft, and the swing motor drives the support seat to rotate through the driving shaft so as to adjust the transverse launching angle of the tennis;

the launching frame is suitable for bearing the ball serving mechanism and comprises a frame body, a left rotating shaft fixed on the left side of the frame body and a right rotating shaft fixed on the right side of the frame body; the left rotating shaft and the right rotating shaft are respectively connected with a left supporting frame and a right supporting frame of the supporting seat through shafts; the right rotating shaft is of a hollow cylindrical structure, one end of the right rotating shaft is closed, namely, the end fixed with the launching rack is a closed end, so that a tennis ball which is rolled to the left end of the launching rack in a sliding mode is limited, and the tennis ball is opposite to the ball outlet;

a serving mechanism adapted for tennis ball launching; the ball sending mechanism comprises a ball sending driving mechanism, a launching driving mechanism and a launching mechanism which are fixed on the launching frame; the launching mechanism at least comprises a launching tube with one closed end, a ball driving part and a thrust rod; one end part of the thrust rod is fixed with the ball driving part positioned in the launching tube, and the other end part of the thrust rod penetrates through the closed end of the launching tube and extends out; a ball inlet hole suitable for inputting tennis balls is formed in the side wall of the launching tube, a ball outlet hole suitable for outputting tennis balls is formed in the side wall of the right rotating shaft, the ball inlet hole and the ball outlet hole are opposite in positive phase and are communicated through a pipeline, and tennis balls suitable for the left end part of the right rotating shaft are conveyed into the launching tube; a pushing hole is formed in the side wall of the right rotating shaft and is arranged opposite to the ball outlet hole in the positive phase, and a pushing shaft of the ball feeding driving mechanism penetrates through the pushing hole and extends into the right rotating shaft, so that tennis balls positioned at the left end part of the right rotating shaft are pushed into the launching tube and a next tennis ball is blocked at the left end part of the right rotating shaft; the launching driving mechanism is coaxially matched with the launching mechanism, and a launching shaft of the launching driving mechanism is fixedly connected with the other end of the thrust rod and is suitable for pushing the tennis ball in the launching tube to move in an accelerated way and launch;

2. The wide-angle intelligent tennis serving machine of claim 1, wherein: the supporting seat comprises a base, a left supporting frame and a right supporting frame which are arranged on the left side and the right side of the base and extend upwards, and a driving shaft which is fixed in the middle of the base and vertical to the base, wherein the driving shaft is positioned below the base, and the base frame body of the supporting seat are assembled and positioned above the base.

3. The wide-angle intelligent tennis serving machine of claim 2, wherein: and an output shaft of the swing motor is connected with the driving shaft through a speed reducer.

4. The wide-angle intelligent tennis serving machine of claim 3, wherein: the left rotating shaft is fixed with the top end part of the left supporting frame through a bearing and a bearing seat; the right rotating shaft is fixed with the top end part of the right supporting frame through a bearing and a bearing seat.

5. The wide-angle intelligent tennis serving machine of claim 4, wherein: the inner surfaces of the right rotating shaft and the launching tube and the surface of the ball driving part are respectively coated with a Teflon coating.

6. The wide-angle intelligent tennis serving machine of claim 5, wherein: and an output shaft of the ball control motor is connected with the left rotating shaft through a chain wheel mechanism or a gear mechanism shaft.

7. The wide-angle intelligent tennis serving machine of claim 6, wherein: the ball feeding driving mechanism and the launching driving mechanism have the same structure, and both comprise a cylinder body, a 1 st excitation coil and a 2 nd excitation coil which are fixed in the cylinder body, and a permanent magnet which is fixed on the pushing shaft or the launching shaft and is positioned at one end part in the cylinder body, and are suitable for driving the pushing shaft or the launching shaft to extend and retract.

8. The wide-angle intelligent tennis serving machine of claim 7, wherein: the ball feeding part comprises a ball storage hopper and a ball conveying pipe, the upper end part of the ball conveying pipe is communicated with the bottom of the ball storage hopper, and the lower end part of the ball conveying pipe is communicated with the right end part of the right rotating shaft.

9. The wide-angle intelligent tennis serving machine of claim 8, wherein: the swing motor and the ball control motor are stepping motors.

10. A wide-angle intelligent tennis service robot as claimed in any one of claims 1 to 9, wherein: the pitching machine further comprises wheels, and the wheels at least comprise a rear left wheel and a rear right wheel which are arranged on the rear side of the base frame body, and a front left wheel and a front right wheel which are arranged on the front side of the base frame body.