CN114797069B - Tennis service robot capable of automatically picking up and serving tennis ball, control method and tennis ball serving machine - Google Patents
Tennis service robot capable of automatically picking up and serving tennis ball, control method and tennis ball serving machine Download PDFInfo
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- CN114797069B CN114797069B CN202210366554.8A CN202210366554A CN114797069B CN 114797069 B CN114797069 B CN 114797069B CN 202210366554 A CN202210366554 A CN 202210366554A CN 114797069 B CN114797069 B CN 114797069B
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- 230000003287 optical effect Effects 0.000 claims description 17
- 238000010408 sweeping Methods 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 4
- 238000012549 training Methods 0.000 abstract description 23
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000011089 mechanical engineering Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000004064 recycling Methods 0.000 description 4
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- 229910001094 6061 aluminium alloy Inorganic materials 0.000 description 1
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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
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
- A63B69/406—Stationarily-arranged devices for projecting balls or other bodies with rotating discs, wheels or pulleys gripping and propelling the balls or bodies by friction
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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
- A63B47/024—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for collecting by using a sweeping means moving across the playing surface
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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
- A63B69/38—Training appliances or apparatus for special sports for tennis
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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
- A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
- A63B2102/02—Tennis
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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of mechanical engineering, and discloses a tennis service robot capable of automatically picking up and serving balls, a control method and a tennis service machine. The control method of the tennis service robot capable of automatically picking up and serving the tennis ball comprises the following steps: after the control system receives Bluetooth handle data through the SPI serial port and processes the Bluetooth handle data, the control system sends instructions to the encoding motor of the ball feeding device, the direct current motor of the angle regulating device, the brushless motor of the tennis ball launching device, the motor of the walking chassis, the ball receiving direct current motor of the ball receiving device and the ball storage direct current motor of the ball storage device, controls all motors to rotate, and carries out ball feeding, ball service, ball receiving and walking of the tennis ball service robot for automatically picking and serving balls. The tennis training service robot has two operation modes, namely an automatic mode and a manual mode controlled by a Bluetooth handle. The ball storage device adopts the revolver principle to manufacture the revolver, has large ball storage quantity, single passing property and no ball clamping, and can be connected with the ball receiving part.
Description
Technical Field
The invention belongs to the technical field of mechanical engineering, and particularly relates to a tennis service robot capable of automatically picking up and serving balls, a control method and a tennis service robot.
Background
At present, the machine for solving tennis training at home and abroad has an S4015 honored type fashionable intelligent tennis service robot of a sports goods science and technology limited company in a certain market. The multifunctional intelligent remote control, LCD interface and humanized summation are adopted, so that the multifunctional intelligent remote control can emit various balls, different training requirements are met, and the power supply comprises 100V alternating current, 220V alternating current and 12V direct current. Has telescopic pull rod and convenient movement. The ball serving mode adopts two wheels rotating at high speed (called counter-rotating double wheels for short), a proper distance is set, and when the ball enters the counter-rotating double wheels, the ball is extruded and then ejected from the other side. The balls with different angles are launched by changing the rotating speed and the rotating speed difference of the counter-rotating double wheels. The service robot is convenient to carry, complete in function, simple to operate and capable of meeting different training strengths. Already at high level machines. The price of the product is too high, and the consumption field of the product is not suitable for ordinary family purchase and school mass purchase. And it does not have the function of recovering the balls, the problem of recovering the balls cannot be solved after the high-intensity exercise.
Tennis service robot also has the pneumatic service robot. Which serve balls in the form of compressed air, which is generated using an air compressor. The balls sequentially enter the bottom of the long barrel and are fixed by a narrow opening. The diameter of this slot is slightly smaller than the diameter of the ball. When compressed air pushes the tennis ball through the narrow opening, the ball is launched. The ball dispenser in the prior art consumes excessive power, is difficult to be powered by a battery, and can generate great noise when compressing air. The competitive advantage over roller ball service machines is not great.
Through the above analysis, the problems and defects existing in the prior art are as follows:
(1) The prior art has high price, is not suitable for mass purchase of ordinary families and schools, has no function of recycling balls, and cannot solve the problem of recycling balls after high-strength sports.
(2) The power consumption is large, the battery is difficult to supply power, and the flexibility is poor.
(3) Compressed air is adopted to serve balls in the prior art, and great noise can be generated.
Disclosure of Invention
In order to overcome the problems in the related art, the embodiment of the invention discloses a tennis service robot capable of automatically picking up and serving tennis balls, a control method and a tennis ball serving machine.
The technical scheme is as follows: the tennis service robot control method for automatically picking up and serving the tennis ball comprises the following steps: the service training and tennis return are collected into a whole, so that the tennis can be recovered in the field while the training requirement is met; the tennis training service robot has two operation modes, namely an automatic mode and a manual mode controlled by a Bluetooth handle; the left wheel turntable of the ball storage device has large ball storage quantity, meets the requirement of high-strength training, has stable ball serving and single trafficability; the gear reduction box with angle regulation and control cooperates with the wheat wheel of the car body base, realizes different angles of transmission.
In one embodiment, the method for controlling the tennis service robot capable of automatically picking up and serving a ball specifically comprises the following steps: the control system receives the instruction of the Bluetooth handle through the SPI serial port and then transmits an operation instruction to the mechanical structure, and controls the encoding motor of the ball feeding device, the direct current motor of the angle regulating device, the brushless motor of the tennis ball launching device, the motor of the walking chassis, the ball receiving direct current motor of the ball receiving device and the ball storage direct current motor of the ball storage device to rotate, so as to feed, serve, receive and walk tennis balls.
In one embodiment, the tennis ball launching device carries out the launching of fixed-point balls, horizontal balls, vertical balls and random balls of tennis balls through the regulation and control of the ball launching angle.
In one embodiment, the ball collecting device adopts a manual mode or an automatic mode for collecting tennis balls; the manual mode uses a handle for operation collection; the automatic mode adopts a sweeping mode, and from one corner, the automatic mode walks the whole field in an S-shaped mode, and balls of the whole field are collected; or adopting shooting to identify tennis balls, and collecting the tennis balls.
In one embodiment, the ball storage device adopts a left wheel type to carry out tennis single pass.
Another object of the present invention is to provide a tennis service robot for automatically picking up and serving a ball, comprising: the control system receives an instruction of the Bluetooth handle through the SPI serial port and then sends an operation instruction to the mechanical structure, wherein the operation instruction comprises an automatic mode and a manual mode controlled by the Bluetooth handle, and the operation instruction is sent to a coding motor of a ball feeding device, a direct current motor of an angle regulating device, a brushless motor of a tennis ball launching device, a motor of a walking chassis, a ball receiving direct current motor of a ball receiving device and a ball storage direct current motor of a ball storage device in the mechanical structure to control all motors to rotate so as to realize ball feeding, ball receiving and walking of the mechanical structure;
the mechanical structure is used for feeding, serving, receiving and walking of tennis balls.
In one embodiment, the mechanical structure comprises: the ball feeding device is used for respectively driving the two roller brushes through the two coding motors to realize the same-direction rotation of the four roller brushes and drive the tennis ball to move upwards from the bottom so as to feed the tennis ball;
the angle regulation and control device is used for mutually meshing through different cylindrical gears to form three-stage speed reduction, the internal gear of the speed reducer is connected with the ball serving device through an optical axis, the direct current motor drives the gear in the speed reduction box to rotate so as to drive the optical axis to rotate, and the ball serving device is positioned at different angles through the rotation of the optical axis to regulate and control the angle;
the tennis ball launching device is used for extruding tennis balls through two brushless motors rotating at high speed to serve the tennis balls;
the walking chassis is used for driving the Mecanum wheels capable of transversely moving through a motor to walk;
the ball collecting device is used for collecting tennis balls through rotation of the ball collecting roller brush and the ball collecting direct current motor.
The ball storage device is used for taking tennis balls from the bottom to the top of the ball storage device by the roller brush and enabling the tennis balls to enter the left wheel turntable, so that the tennis balls are sequentially queued and enter the curve guide pipe from the round hole of the left wheel turntable, and ball storage is carried out.
In one embodiment, tennis balls enter the tennis ball launching device through a bend conduit of the ball storage device, the counter-rotating double wheels adopt friction wheels, and the tennis balls are extruded through high-speed rotation of a brushless motor to obtain power; the other side is meshed with the first cylindrical gear through a tennis ball launching cylindrical gear and a right tennis ball launching optical axis, so that the tennis ball launching device is connected with a reduction gearbox formed by the angle regulating device; the left tennis ball launching optical axis that the opposite side passed through is connected with mechanical structure's beam column through U type connecting plate for tennis ball launching device can carry out service angle regulation and control, carries out service.
In one embodiment, the ball collecting roller brush adopts a star wheel, a rubber rod is inserted into the side wall of the ball collecting roller brush, and a ball collecting direct current motor rotates to dial tennis balls into a base through a ball collecting inclined baffle plate to collect the tennis balls.
In one embodiment, the middle part of the left wheel turntable is protruded and used for enabling tennis balls to slide down to the side wall of the left wheel turntable, and a plurality of left wheel turntable round holes are formed in the upper layer of the left wheel turntable.
Another object of the present invention is to provide an intelligent tennis service robot control method for automatically picking up and serving balls according to the implementation right of the intelligent tennis service robot.
By combining all the technical schemes, the invention has the advantages and positive effects that:
first, aiming at the technical problems in the prior art and the difficulty in solving the problems, the technical problems solved by the technical proposal of the invention are analyzed in detail and deeply by tightly combining the technical proposal to be protected, the results and data in the research and development process, and the like, and some technical effects brought after the problems are solved have creative technical effects. The specific description is as follows:
the automatic ball picking and serving robot provided by the invention combines the ball serving and ball receiving together by adopting the automatic mode and the manual mode, thereby improving the flexibility and the multifunction of the whole equipment. The tennis ball launching device has the advantages that the tennis ball launching device can be used for launching fixed-point balls, horizontal balls, vertical balls and random balls of tennis balls through adjusting and controlling the ball launching angle, the problem of unmanned cosmesis is solved, and meanwhile the reality of tennis ball launching is achieved. The ball storage adopts the device to satisfy that 50 tennis balls are held once and satisfy high strength training, adopts left wheel formula simultaneously, drives through the bottom motor, realizes single trafficability characteristic, and fault-tolerant rate is high. The ball collecting mode adopts a sweeping mode and a camera head setting mode, and can adopt a corresponding scheme according to the number of tennis balls, so that the time is saved. Therefore, the device can be well adapted to various training sites, is suitable for individuals and families, has various training modes and is used for different levels of trainers.
The tennis training service robot integrates the service training and the tennis return, and can recover tennis in the field, reduce the labor amount and liberate the labor force while meeting the training requirements.
The invention programs the main control board to enable the tennis training service robot to have two operation modes, namely an automatic mode and a manual mode controlled by the Bluetooth handle.
The ball storage device adopts the revolver principle to manufacture the revolver, has large ball storage quantity, single passing property and no ball clamping, and can be connected with the ball receiving part.
The angle-regulated gear reduction box is matched with the wheat wheel of the vehicle body base, so that different angles of emission are realized. The cost is reduced.
The invention adopts the camera module to realize accurate identification of tennis balls.
Secondly, the technical scheme is regarded as a whole or from the perspective of products, and the technical scheme to be protected has the following technical effects and advantages:
the tennis training service robot integrates tennis training and tennis collecting, and is a multifunctional robot capable of freely switching between an automatic mode and a manual mode. Can meet various training sites and is applicable to individuals and families. Has multiple training modes and can be suitable for users with different levels. The tennis ball collecting function is provided with a manual mode and an automatic mode, the manual mode is used for operation and collection by using a handle, the automatic mode is suitable for being carried out under the condition of site rules, and the collecting mode is divided into two modes: firstly, the 'sweeping' is adopted, namely, from one corner, the whole field is walked in an S-shaped mode, and balls of the whole field are collected. Secondly, adopt the shooting to discern the tennis, realize the collection to the tennis.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic diagram of a tennis service robot for automatically picking up and serving a ball according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a ball feeding device according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of an angle adjusting device according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a tennis ball launching device according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a mecanum wheel according to an embodiment of the present invention.
Fig. 6 is a schematic view of a roller brush according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a ball storage device according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a circular hole of a left wheel turntable according to an embodiment of the invention.
Fig. 9 is a schematic diagram of a left wheel turntable according to an embodiment of the present invention.
In the figure: 1. a ball feeding device; 1-1, a baffle; 1-2, a chain; 1-3, chain wheel; 1-4, a coding motor; 1-5, glue stick; 1-6, brushing the side wall of the roller; 1-7, a roller brush; 2. an angle adjusting device; 2-1, a first cylindrical gear; 2-2 slotting optical axis; 2-3, a second cylindrical gear 2-3; engagement; 2-4, a left plate of the reduction gearbox; 2-5, right plate of reduction gearbox; 2-6, a third cylindrical gear; 2-7, a direct current motor bracket; 2-8, a direct current motor; 2-9, pan head screws; 2-10, a fourth cylindrical gear; 2-11, a fifth cylindrical gear; 2-12, right-angle connecting sheets; 3. tennis ball serving device; 3-1, an aluminum plate; 3-2, friction wheels; 3-3, tennis ball launching cylindrical gear; 3-4, M4×20 bolts; 3-5, transmitting an optical axis by tennis on the right side; 3-6, connecting sheets; 3-7, nylon washers; 3-8, a left tennis ball transmitting optical axis; 3-9, a U-shaped connecting plate; 3-10, a shaft clamping device; 3-11, M4×25 bolts; 3-12, nuts; 3-13, brushless motor; 4. a walking chassis; 4-1, a base; 4-2, mecanum wheel; 4-3, beams; 4-4, a motor; 5. a ball collecting device; 5-1, ball collecting inclined baffle plates; 5-2, ball collecting roller brushes; 5-3, a left baffle for receiving balls; 5-4, a right baffle plate for receiving balls; 6. a ball storage device; 6-1, a left wheel turntable; 6-2, a left wheel turntable round hole; 6-3, the top of the ball storage device; 6-4, the side wall of the left wheel turntable; 6-5, limiting rings; 6-6, a ball storage direct current motor bracket; 6-7, a ball storage direct current motor; 6-8, a ball storage coupler; 6-9, curve duct.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
The invention provides a tennis service robot control method for automatically picking up and serving a ball, which comprises the following steps: the control system receives the instruction of the Bluetooth handle through the SPI serial port and then sends an operation instruction to the mechanical structure, and controls the coding motor 1-4 of the ball feeding device 1, the direct current motor 2-8 of the angle regulating device 2, the brushless motor 3-13 of the tennis ball launching device 3, the motor 4-4 of the walking chassis 4, the ball receiving direct current motor of the ball receiving device 5 and the ball storage direct current motor 6-7 of the ball storage device 6 in the mechanical structure to send instructions, and controls all motors to rotate so as to feed, serve, receive and walk the tennis ball service robot for automatically picking and delivering balls.
In a preferred embodiment of the invention, the tennis ball launching device 3 carries out the launching of fixed-point balls, horizontal balls, vertical balls and random balls of tennis balls through the regulation and control of the ball launching angle.
In a preferred embodiment of the present invention, the ball collecting device 5 is used for collecting tennis balls in a manual mode or an automatic mode; the manual mode uses a handle for operation collection; the automatic mode adopts a sweeping mode, and from one corner, the automatic mode walks the whole field in an S-shaped mode, and balls of the whole field are collected; or adopting shooting to identify tennis balls, and collecting the tennis balls.
In a preferred embodiment of the present invention, the ball storage device 6 is of a left wheel type, and a tennis ball single pass is performed.
The invention provides an automatic tennis ball picking and serving robot which comprises a control system and a mechanical structure.
In the present invention, the mechanical structure: the overall device is shown in fig. 1 and comprises:
ball feeding device 1: as shown in figure 2, a 20mm rubber rod 1-5 is inserted into the side wall 1-6 of the roller brush, so that the ball feeding efficiency and stability are ensured, four roller brushes 1-7 are connected with a chain 1-2 in pairs through chain wheels 1-3, a coding motor 1-4 is connected with the roller brushes 1-7 through a coupler, each coding motor 1-4 respectively drives two roller brushes 1-7, the four roller brushes 1-7 rotate in the same direction, tennis balls are driven to move upwards from the bottom, the coding motor 1-4 is arranged on a baffle plate 1-1, and the baffle plate 1-1 prevents the tennis balls from being ejected out in the ball feeding process, so that the tennis balls are fed.
The service device consists of an angle regulating device 2 and a tennis ball launching device 3.
The angle regulating device 2 is shown in fig. 3, a first cylindrical gear 2-1 is meshed with a second cylindrical gear 2-3, a fourth cylindrical gear 2-10 is meshed with a fifth cylindrical gear 2-11, the fourth cylindrical gear 2-10 is meshed with a third cylindrical gear 2-6 to form a three-stage reduction gearbox, a direct current motor 2-8 is connected with an 8mm slotted optical axis 2-2 through a coupler to drive the second cylindrical gear 2-6 to rotate, and other gears are driven to rotate to form the reduction gearbox.
The left and right sides of the reduction gearbox are respectively provided with a reduction gearbox left plate 2-4 and a reduction gearbox right plate 2-5; the upper parts of the left reduction gearbox plate 2-4 and the right reduction gearbox plate 2-5 are connected with the top plate of the reduction gearbox through right-angle connecting sheets 2-12. The optical axis 2-2 with the slot of 8mm is respectively fixed on the left plate 2-4 of the reduction gearbox and the right plate 2-5 of the reduction gearbox through M3X4 pan head screws 2-9; the direct current motor 2-8 is mounted on the direct current motor bracket 2-7.
Tennis ball launching device 3: as shown in fig. 4, tennis balls enter the tennis ball launching device 3 through a bend conduit 6-9 of the ball storage device (as shown in fig. 7), the two opposite-rotating wheels adopt friction wheels 3-2, and the tennis balls are extruded through high-speed rotation of the brushless motor 3-13 to obtain power. And the other side can be connected with a reduction gearbox formed by the angle regulating device 2 through the meshing of the tennis ball launching cylindrical gear 3-3 and the right tennis ball launching optical axis (8 mm slot) 3-5 with the first cylindrical gear 2-1 in fig. 3, the left tennis ball launching optical axis (8 mm slot) 3-8 passing through the other side is connected with a beam column of a mechanical structure through the U-shaped connecting plate 3-9, so that the tennis ball launching device 3 can regulate and control a ball launching angle, and accurate ball launching is realized.
The tennis ball launching device 3 also comprises a tennis ball launching shell; the top of the tennis ball launching shell is 6061 aluminum plate (11 row holes) 3-1; M4X20 bolt 3-4 clamps the shaft clamp 3-10 on tennis ball launching optical axis (8 mm) 3-8.
The brushless motor 3-13 is fixed in the tennis ball launching shell through a connecting sheet 3-6, a nylon washer 3-7, an M4X25 bolt 3-11 and a nut 3-12.
The walking chassis 4, as shown in fig. 1, includes: base 4-1, mecanum wheel 4-2 (as shown in figure 5), square beam 4-3, motor 4-4.
The design of the structural shape of the base 4-1 is selected to be quadrangular, and the quadrangular is fixed with screws through square beams 4-3 made of aluminum, so that the inclined type base is adopted. The adjacent square beams 4-3 are fixed by adopting a double-fulcrum fixing mode, the bottom wheels are Mecanum wheels 4-2 capable of transversely moving, and the four Mecanum wheels 4-2 are respectively driven by motors 4-4.
The ball receiving device 5, as shown in fig. 1, includes: ball receiving inclined baffle 5-1, ball receiving roller brush 5-2, ball receiving left baffle 5-3 and ball receiving right baffle 5-4.
As shown in FIG. 6, the ball collecting roller brush 5-2 is designed by adopting a star wheel, a 20mm rubber rod 5-2-6 is inserted into the side wall 5-2-7 of the ball collecting roller brush, and a ball collecting direct current motor 5-2-3 is connected with the ball collecting roller brush 5-2 through a ball collecting coupler 5-2-5 of 6X8 and a ball collecting bolt 5-2-1 of M4X 20.
The ball receiving direct current motor 5-2-3 rotates to dial tennis balls into the base 4-1 through the ball receiving inclined baffle plate 5-1, and the ball receiving left baffle plate 5-3 and the ball receiving right baffle plate 5-4 prevent the tennis balls from leaking from two sides, so that ball receiving is realized.
Wherein, the ball collecting coupler 5-2-5 connects the ball collecting direct current motor 5-2-3 with the ball collecting optical axis 5-2-9 of 8mm through the pan head screw 5-2-2 of M3X 4. The ball collecting optical axis 5-2-9 is connected to the external longitudinal beam through a ball collecting U-shaped connecting plate 5-2-8. The stringers are welded to the frame of the machine structure.
The ball storage device 6, as shown in fig. 7, 8 and 9, the roller brush 1-7 of fig. 2 brings tennis balls from the bottom 4-1 (fig. 1) to the top 6-3 of the ball storage device to enter the left wheel turntable 6-1 (fig. 8), so as to ensure that the tennis balls roll to the edge of the left wheel turntable 6-1, namely the side wall 6-4 of the left wheel turntable; a limiting ring 6-5 is arranged at the lower part of the side wall 6-4 of the left wheel turntable; in order to meet the requirement of 'queuing' of tennis balls, the middle part of the left wheel turntable 6-1 is protruded, as shown in fig. 9, 12 left wheel turntable round holes 6-2 are formed in the upper layer of the left wheel turntable 6-1, and the left wheel turntable 6-1 is driven to rotate through a ball storage coupler 6-8 by a ball storage direct current motor 6-7 shown in fig. 8, so that the tennis balls are sequentially 'queued' to enter a curve guide pipe 6-9 from the left wheel turntable round holes 6-2 shown in fig. 8. The ball storage direct current motor 6-7 is arranged on the ball storage direct current motor bracket 6-6.
And (3) a control system: and after receiving the instruction of the Bluetooth handle through the SPI serial port, sending an operation instruction to the mechanical structure, wherein the operation instruction comprises an automatic mode and a manual mode controlled by the Bluetooth handle. The robot is set to be in an automatic mode and a Bluetooth mode through keys. Bluetooth mode: after the Bluetooth mode is set through the keys, a control system (CPU) receives Bluetooth handle data through an SPI serial port, and after the control system (CPU) processes the data, the control system sends instructions to a coding motor 1-4 of the ball feeding device 1, a direct current motor 2-8 of the angle regulating device 2, a brushless motor 3-13 of the tennis ball launching device 3, a motor 4-4 of the walking chassis 4, a ball receiving direct current motor of the ball receiving device 5 and a ball storage direct current motor 6-7 of the ball storage device 6, and controls all the motors to correspondingly rotate, so that ball feeding, ball serving, ball receiving and walking are realized.
The tennis training service robot provided by the invention is a multifunctional robot integrating tennis training and tennis collecting, and considering the free switching of an automatic mode and a manual mode. Can meet various training sites and is applicable to individuals and families. Has multiple training modes and can be suitable for users with different levels. The tennis ball collecting function is provided with a manual mode and an automatic mode, the manual mode is used for operation and collection by using a handle, the automatic mode is suitable for being carried out under the condition of site rules, and the collecting mode is divided into two modes: firstly, the 'sweeping' is adopted, namely, from one corner, the whole field is walked in an S-shaped mode, and balls of the whole field are collected. Secondly, adopt the shooting to discern the tennis, realize the collection to the tennis.
The existing robots in the market at present have the following problems that the price is high, the robots are not suitable for mass purchase in ordinary families and schools, the function of recycling balls is not available, and the problem of recycling balls after high-strength sports cannot be solved; the power consumption is excessive, the battery is difficult to supply power, and meanwhile, the air is compressed, and meanwhile, great noise is generated; the ball cannot be received. The device has the advantages of meeting the service and receiving, being low in price, being applicable to various occasions, adopting a service mode of compressing tennis balls by a motor rotating at a high speed, having low noise and low power consumption.
While the invention has been described with respect to what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (2)
1. The tennis service robot control method for automatically picking up and serving the tennis is characterized in that the method receives an instruction of a Bluetooth handle through an SPI serial port and then sends an operation instruction to a mechanical structure, wherein the operation instruction comprises an automatic mode and a manual mode controlled by the Bluetooth handle, and the operation instruction is sent to a coding motor (1-4) of a ball feeding device (1), a direct current motor (2-8) of an angle regulating device (2), a brushless motor (3-13) of a tennis ball launching device (3), a motor (4-4) of a walking chassis (4), a ball receiving direct current motor of a ball receiving device (5) and a ball storage direct current motor (6-7) of a ball storage device (6) in the mechanical structure to control all motors to rotate so as to realize ball feeding, ball serving, ball receiving and walking of the mechanical structure;
the mechanical structure comprises: the tennis ball feeding device (1) is used for driving the two roller brushes (1-7) through the two coding motors (1-4) respectively to realize the same-direction rotation of the four roller brushes (1-7) and drive the tennis ball to move upwards from the bottom so as to feed the tennis ball;
the angle regulating device (2) is used for mutually meshing through different cylindrical gears to form three-stage speed reduction;
the tennis ball launching device (3) is used for adjusting and controlling a ball launching angle and launching balls;
the walking chassis (4) is used for driving the Mecanum wheels (4-2) capable of transversely moving through the motor (4-4) to walk;
the ball receiving device (5) is used for receiving tennis balls through rotation of the ball receiving roller brush (5-2) and the ball receiving direct current motor (5-2-3);
the ball storage device (6) is used for taking tennis balls to the top (6-3) of the ball storage device by the roller brush (1-7) through the base (4-1) into the left wheel turntable (6-1), so that the tennis balls are sequentially queued to enter the curve guide pipe (6-9) from the round hole (6-2) of the left wheel turntable, and the tennis balls are stored;
tennis balls enter the tennis ball launching device (3) through a curve conduit (6-9) of the ball storage device (6), the opposite rotating double wheels adopt friction wheels (3-2), and the tennis balls are extruded through high-speed rotation of a brushless motor (3-13) to obtain power; one side of the device is meshed with the first cylindrical gear (2-1) through a tennis ball launching cylindrical gear (3-3) and a tennis ball launching optical axis (3-5) on the right side, so that the tennis ball launching device (3) is connected with a reduction gearbox formed by the angle regulating device (2); the tennis ball launching optical axis (3-8) on the left side of the other side is connected with a beam column of a mechanical structure through a U-shaped connecting plate (3-9), so that the tennis ball launching device (3) can regulate and control a ball launching angle to launch balls;
the tennis ball launching device (3) is used for launching fixed-point balls, horizontal balls, vertical balls and random balls of tennis balls through regulating and controlling the ball launching angle;
the ball collecting device (5) adopts a manual mode or an automatic mode to collect tennis balls;
the manual mode uses a handle for operation collection;
the automatic mode adopts a sweeping mode, and from one corner, the automatic mode walks the whole field in an S-shaped mode, and balls of the whole field are collected; or adopting shooting to identify tennis balls, and collecting the tennis balls;
the ball storage device (6) adopts a left wheel type to store balls and enables tennis balls to pass through singly;
the ball collecting roller brush (5-2) adopts a star-shaped wheel, a rubber rod (5-2-6) is inserted into the side wall (5-2-7) of the ball collecting roller brush,
the ball receiving direct current motor (5-2-3) rotates to drive tennis balls into the base (4-1) through the ball receiving inclined baffle (5-1) for ball receiving.
2. The control method of the tennis ball service robot for automatically picking and serving tennis balls according to claim 1, wherein the middle part of the left wheel turntable (6-1) is protruded and used for enabling tennis balls to slide down the left wheel turntable side wall (6-4), and a plurality of left wheel turntable round holes (6-2) are formed in the upper layer of the left wheel turntable (6-1).
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| CN202210366554.8A CN114797069B (en) | 2022-04-08 | 2022-04-08 | Tennis service robot capable of automatically picking up and serving tennis ball, control method and tennis ball serving machine |
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| CN202210366554.8A CN114797069B (en) | 2022-04-08 | 2022-04-08 | Tennis service robot capable of automatically picking up and serving tennis ball, control method and tennis ball serving machine |
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| CN114797069A CN114797069A (en) | 2022-07-29 |
| CN114797069B true CN114797069B (en) | 2023-12-22 |
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| CN105056502A (en) * | 2015-07-22 | 2015-11-18 | 武汉工程大学 | Badminton shuttle sucking/serving machine |
| CN205252475U (en) * | 2015-11-10 | 2016-05-25 | 西安发威电子科技有限公司 | All -in -one is picked up in tennis service |
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| CN114797069A (en) | 2022-07-29 |
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