CN208893585U - A kind of projection pickup integral type tennis training robot - Google Patents

Abstract

The utility model relates to pick up integral type tennis training robot to a kind of projection, including shell and bottom plate, bottom plate lower end surface is provided with walking mechanism, it is offered on bottom plate and picks up hole, it picks up hole and is connected with roller and arc panel, arc panel two sides are connected with side baffle, arc panel, side baffle and roller, which constitute, picks up channel, enclosure interior is provided with ball storage barrel and conveying mechanism, storage ball entrance is offered on ball storage barrel, one end and pickup outlet of conveying mechanism are opposite, the other end is opposite with storage ball entrance, ball storage barrel is located above bottom plate, ball storage barrel bottom offers bulb separation hole, tennis projection mechanism is provided in shell, it is connected with one on ball storage barrel outer bottom and leads ball plate, lead the goal mouth that ball plate lower end extends to projection mechanism, controller and mobile power source are provided in shell.The tennis training robot for being provided simultaneously with pickup function and projection function is conducive to the raising of training effectiveness, and reduces purchase cost, easy to carry.

Description

A kind of projection pickup integral type tennis training robot

Technical field:

The utility model relates to a kind of projections to pick up integral type tennis training robot.

Background technique:

With the improvement of living standards, more and more people like this movement of approach shot, domestic tennis court, tennis Fan increases year by year, as soon as tennis is the more people for needing to expend a many physical strength movement, needs to look for so wanting to play tennis To the waste of suitable opponent and reduction physical strength, therefore tennis training robot operates and gives birth to, and tennis training robot passes through throwing It penetrates mechanism and projects tennis to sportsman, sportsman strikes back tennis by racket and reaches movement effects.

But the capacity of tennis training robot interior is limited, after a wheel projection terminates, needs the court that will manually be scattered Tennis pick up and put in order in the ball storage barrel of robot, then just can be carried out the projection of next round, and the tennis for the whole audience that is scattered, It picks up and less light, needs to consume a large amount of physical strength of sportsman.

In order to save physical strength, it is proposed a variety of tennis pickup robots on the market at present, but for average family, two machines The somewhat expensive of device people, and it is inconvenient to carry, and there is also the risks that mutual grazing is damaged on court for Liang Ge robot.

Utility model content:

The technical problem to be solved by the utility model is to provide a kind of projections to pick up integral type tennis training robot, The robot is provided simultaneously with the function of picking up tennis and project tennis, and the technology for overcoming conventional training machines people to have a single function lacks It falls into.

In order to solve the above technical problems, the technical solution adopted in the utility model is: a kind of projection pickup integral type tennis Image training robot, including shell, housing bottom are bottom plate, and bottom plate lower end surface is provided with walking mechanism, one is offered on bottom plate Along the pickup hole that bottom plate axis extends, the roller being rotatably connected in hole perpendicular to bottom plate axis is picked up, hole side bottom plate is picked up On be connected with the pickup motor of driving roller rotation, be fixedly connected with one piece with cylinder axis in the pickup hole of roller axial direction side For circular arc panel, arc panel lower end is located at below bottom plate, and arc panel upper end is located above bottom plate, and arc panel two sides are connected with Side baffle, arc panel, side baffle and roller constitute the pickup channel that can accommodate tennis, pick up channel and are located at opening below bottom plate Mouth is pickup entrance, the opening above bottom plate is to pick up outlet, and the distance between arc panel cancave cambered surface and roller are slightly less than Tennis diameter overcomes tennis to fall naturally the chucking power of tennis so as to pick up channel, and the distance between roller and ground are less than Tennis diameter, the lower edge for picking up entrance are located at below roller, and enclosure interior is provided with a ball storage barrel and one conveys tennis Conveying mechanism offers storage ball entrance on ball storage barrel, and one end of conveying mechanism is conveying entrance, and the other end is conveying outlet, respectively The pickup outlet for picking up channel is opposite with conveying entrance, and conveying outlet is opposite with storage ball entrance, and the ball storage barrel is located on bottom plate Side, ball storage barrel bottom offer the bulb separation hole passed through for tennis, and tennis projection mechanism, housing sidewall are additionally provided in the shell On be provided with the corresponding projection mouth of projection mechanism, be connected with one on ball storage barrel outer bottom and lead ball plate, the upper end for leading ball plate is enclosed It is wound on bulb separation hole periphery, lower end extends to the goal mouth of projection mechanism, and tennis can be accommodated and guide by leading ball plate upper surface and being provided with Lead ball impression slot, be provided in shell respectively with pick up motor, conveying mechanism, walking mechanism, projection mechanism be electrically connected control Device processed, the electrical equipment being additionally provided in the shell on tennis pick device provide the mobile power source of electric energy.

As a preferred embodiment, the walking mechanism includes be fixedly connected on bottom plate lower end surface three into triangle The wheel of arrangement, two of them wheel are coaxially disposed and are driven respectively by independent movable motor, another wheel is universal Wheel, two movable motors are electrically connected with controller respectively, are controlled by the controller.

As a preferred embodiment, a manipulator, the shell are symmetrically arranged on the shell of bottom plate axis two sides It is also set up on body there are two the camera arranged laterally side by side, the manipulator and camera are electrically connected with controller respectively.

As a preferred embodiment, it is symmetrically opened up in the housing sidewall of bottom plate axis two sides there are two storage mouth, Two sides in shell positioned at bottom plate axis are respectively arranged with two pieces of partitions being relatively vertically connected on bottom plate in parallel, are located at bottom Accommodating groove is constituted between two partitions of plate axis the same side, accommodating groove one end storage mouth ipsilateral with bottom plate axis is located at docks, The other end is fixedly connected with a telescope motor, and one is additionally provided in accommodating groove to slide back and forth between telescope motor and storage mouth Dynamic sliding block, the two sides of the sliding block are slidably connected with corresponding partition respectively, and one is threaded on sliding block and is parallel to sliding block sliding The screw rod in direction, screw rod is coaxially connected with telescope motor, is driven and is rotated by telescope motor, two manipulators are correspondingly It is mounted on sliding block, the telescope motor and controller are electrically connected, and are controlled by the controller.

As a preferred embodiment, the conveying mechanism includes the helical mount of a coiled coil along the vertical direction, spiral Pedestal upper end is that the conveying opposite with storage ball entrance exports, and helical mount lower end is that opposite conveying entrance is exported with pickup, defeated It sends out mouth and conveying entrance is located on identical axis, the helical mount side is provided with a guiding roller support, guide roller branch Frame is fixedly connected with bottom plate, be oriented to be rotatably connected in roller support with the perpendicular upper guide roller of extending direction of conveying outlet, Lower steering roll and driven roller, upper guide roller are located at conveying exit, and lower steering roll is located at conveying inlet, and driven roller, which is located at, above to be led It is parallel with lower steering roll to the underface of roller, it spirals on the helical mount and is provided with conveyer belt, conveyer belt draws from conveying outlet Successively enter helical mount from conveying entrance after guide roller, driven roller, lower steering roll in pile warp after out, forms closed loop, conveyer belt On along conveying direction spaced set have baffle, the feeder motor of driving driven roller rotation, conveying electricity are provided on the bottom plate Machine and controller are electrically connected, and are controlled by the controller.

As a preferred embodiment, be additionally provided with radio location device in the shell, the radio location device with Controller is electrically connected.

As a preferred embodiment, vertical rotating is connected with a shaft in the ball storage barrel, which wears downwards The bottom of ball storage barrel out, and connect with bulb separation motor drive, bulb separation impeller, bulb separation leaf are connected in the shaft in ball storage barrel Wheel is made of at least three blades, and the spacing between any two blade passes through for a tennis, the bulb separation motor and control Device is electrically connected, and is controlled by the controller.

As a preferred embodiment, the projection mechanism includes the vertical plate being vertically provided in shell, with projection mouth face, Offer the installing port with projection mouth face on vertical plate, be rotatably connected to serving wheel and lower serving wheel in installing port, it is described on The axis of serving wheel is rotatably connected on vertical plate back to the side of projection mouth, and the axis of lower serving wheel is rotatably connected on vertical plate towards projection mouth Side, the lower service for driving the lower service rotation of the upper service motor of upper serving wheel rotation, driving dynamic is connected on the bottom plate Motor, the upper service motor issue ball motor respectively with controller electric connection, are controlled by the controller.

As a preferred embodiment, the bottom plate ovalisation, the long axis of the bottom plate axis, that is, bottom plate, the pickup hole Quantity is one, and the rear end of bottom plate, the arc panel, roller, conveying mechanism, ball storage barrel, projection machine are arranged in along bottom plate axis Structure is successively arranged from base plate rear end forward end along the axial direction of bottom plate, and two cameras are located above projection mouth, and bottom plate lower end surface is located at It picks up hole two sides and is respectively arranged with downwardly convex block, to form that a front end is big, rear end is small between two blocks tubaeform to draw Lead mouth.

The beneficial effects of the utility model are: it is provided simultaneously with the tennis training robot for picking up function and projection function, benefit With same ball storage barrel, internal structure is optimized, it is dexterously that tennis projection is integrated with pickup, enrich function, topology layout It is ingenious, volume is reduced, the consumption of user's physical strength is avoided, is conducive to the raising of training effectiveness, and reduce purchase cost, is convenient for It carries.

Detailed description of the invention:

Specific embodiment of the present utility model is described in further detail with reference to the accompanying drawing, in which:

Fig. 1 is the positive structure schematic of the utility model；

Fig. 2 is the A-A cross-sectional view of Fig. 1；

Fig. 3 is the top view of Fig. 1；

Fig. 4 is the schematic perspective view of Fig. 1；

Fig. 5 is the schematic perspective view of conveying mechanism described in the utility model.

In FIG. 1 to FIG. 5: 1, shell, 2, bottom plate, 3, walking mechanism, 3-1, wheel, 3-2, movable motor, 4, bottom plate axis, 5, hole, 6, roller, 7, pickup motor, 8, arc panel, 9, side baffle, 10, pickup entrance, 11, pickup outlet, 12, storage ball are picked up Cylinder, 13, conveying mechanism, 13-1, conveying entrance, 13-2, conveying outlet, 13-3, helical mount, 13-4, guiding roller support, 13- 5, upper guide roller, 13-6, lower steering roll, 13-7, driven roller, 13-8, conveyer belt, 13-9, baffle, 13-10, feeder motor, 14, Store up ball entrance, 15, manipulator, 16, camera, 17, controller, 18, storage mouth, 19, partition, 20, accommodating groove, 21, flexible electricity Machine, 22, sliding block, 23, screw rod, 24, radio location device, 25, projection mechanism, 25-1, vertical plate, 25-2, installing port, 25-3, 25-6, upper serving wheel, 25-4, lower serving wheel, 25-5, upper service motor issue ball motor, 26, projection mouth, and 27, lead ball plate, 28, ball impression slot, 29, bulb separation sky, 30, shaft, 31, bulb separation motor, 32, bulb separation impeller, 33, blade, 34, block, 35, loudspeaker are led Shape guiding port.

Specific embodiment:

With reference to the accompanying drawing, the specific embodiment of the utility model is described in detail.

A kind of tennis pick device as shown in fig. 1~fig. 5, including shell 1,1 bottom of shell are bottom plate 2,2 lower end of bottom plate Face is provided with walking mechanism 3, and one is offered on bottom plate 2 along the pickup hole 5 that bottom plate axis 4 extends, picks up rotation connection in hole 5 There is the roller 6 perpendicular to bottom plate axis 4, picks up and be connected with the pickup motor 7 that driving roller 6 rotates on 5 side bottom plate 2 of hole, rolling One piece is fixedly connected with 6 axle center of roller in the pickup hole 5 of the axial sides of cylinder 6 as circular arc panel 8,8 lower end of arc panel position In 2 lower section of bottom plate, 8 upper end of arc panel is located at 2 top of bottom plate, and 8 two sides of arc panel are connected with side baffle 9, arc panel 8, side baffle 9 The pickup channel that can accommodate tennis is constituted with roller 6, is picked up channel and is located at the opening of 2 lower section of bottom plate to pick up entrance 10, position Opening above bottom plate 2 is to pick up outlet 11, and the distance between 8 cancave cambered surface of arc panel and roller 6 are slightly less than tennis diameter, with Pickup channel is set to overcome tennis to fall naturally the chucking power of tennis, the distance between roller 6 and ground are less than tennis diameter, pick up The lower edge of taking mouth 10 is located at 6 lower section of roller, and shell 1 is internally provided with the conveyer an of ball storage barrel 12 and a conveying tennis Structure 13 offers storage ball entrance 14 on ball storage barrel 12, and one end of conveying mechanism 13 is conveying entrance 13-1, and the other end is to transfer out Mouth 13-2, each pickup outlet 11 for picking up channel is opposite with conveying entrance 13-1, conveys outlet 13-2 and storage 14 phases of ball entrance It is right, a manipulator 15 is symmetrically arranged on the shell 1 of 4 two sides of bottom plate axis, also set up on the shell 1 there are two The camera 16 arranged laterally side by side, the filmed image of two cameras 16 can form intersection, be provided in shell 1 respectively with pickup The controller 17 that motor 7, conveying mechanism 13, camera 16, manipulator 15, walking mechanism 3 are electrically connected, the shell 1 are interior also The electrical equipment being provided on tennis pick device provides the mobile power source of electric energy.

Tennis is involved in by the tennis pick device using the rotation of roller 6 picks up channel, and further picks up tennis edge It takes channel to involve in the conveying mechanism 13 inside shell 1, tennis is sent into complete quickly by ball storage barrel 12 by conveying mechanism 13 It picks up, in whole process, roller 6 is driven by pickup motor 7, and noise is low when motor rotates, and the manipulator 15 being arranged on shell 1 is matched It closes roller 6 to work, manipulator 15 is protruding and tilts forwards, forms a horn mouth, and tennis pick device moves forward When, the tennis that manipulator 15 is intercepted can roll to the pickup entrance 10 of 2 lower section of bottom plate along inclined manipulator 15, in turn It is involved in by roller 6 and picks up channel, and for the tennis in some small spaces, then small space is protruded by manipulator 15, it will Tennis is pressed from both sides out or is released.Entire tennis pick device has merged two kinds of pick-up methods, solves traditional pick device and has a single function, The big disadvantage of noise.

Two cameras 16 carry out the acquisition of image, then carry out the capture of feature object to tennis, and then will be acquired Image sends back controller 17 and is calculated, and controller 17 determines distance after calculating, position, planned automatically conduct route and 15 action process of manipulator.Then it automatically generates order and is transmitted to walking mechanism 3, by road of passing through after the reception order of walking mechanism 3 Line runs to target position, is picked up tennis using roller 6 or manipulator 15.

The walking mechanism 3 includes being fixedly connected on three on 2 lower end surface of the bottom plate wheel 3-1 at triangular arrangement, Two of them wheel 3-1 is coaxially disposed and is driven respectively by independent movable motor 3-2, another wheel 3-1 is universal wheel, Two movable motor 3-2 are electrically connected with controller 17 respectively, are controlled by controller 17.

Above-mentioned walking mechanism 3 can be realized the original place rotation of pick device entirety, greatly reduce turning radius, reduce pair In the requirement of use occasion, to preferably cooperate the pickup to tennis.

It is symmetrically opened up on 1 side wall of shell of 4 two sides of bottom plate axis there are two mouth 18 is stored, is located at bottom in shell 1 The two sides of plate axis 4 are respectively arranged with two pieces of partitions 19 being relatively vertically connected on bottom plate in parallel, and it is same to be located at bottom plate axis 4 Accommodating groove 20 is constituted between two partitions 19 of side, 20 one end of accommodating groove storage mouth 18 ipsilateral with bottom plate axis 4 is located at docks, The other end is fixedly connected with a telescope motor 21, and one is additionally provided in accommodating groove 20 can be in telescope motor 21 and storage mouth 18 Between the sliding block 22 that slidably reciprocates, the two sides of the sliding block 22 are slidably connected with corresponding partition 19 respectively, are threadedly coupled on sliding block 22 There is a screw rod 23 for being parallel to 22 glide direction of sliding block, screw rod 23 and telescope motor 21 are coaxially connected, are driven by telescope motor 21 And rotate, two manipulators 15 are mounted on correspondingly on sliding block 22, and the telescope motor 21 electrically connects with controller 17 It connects, is controlled by controller 17.

Manipulator 15 is connected on sliding block 22, when needing using manipulator 15, is stretched by the control of controller 17 The rotation of contracting motor 21 is released to drive screw rod 23 to rotate, by sliding block 22 to storage 18 direction of mouth, stretches out manipulator 15, when being not required to Will use manipulator 15 when, can reverse operating by manipulator 15 take in accommodating groove 20 in, so that tennis pick device be made to see It is more succinct up, manipulator 15 is also protected, manipulator 15 is avoided to collide other in tennis pick device moving process Thing.

The conveying mechanism 13 includes the helical mount 13-3 of a coiled coil along the vertical direction, the upper end helical mount 13-3 13-2 is exported for the conveying opposite with storage ball entrance 14, the lower end helical mount 13-3 is and picks up 11 opposite conveying entrances of outlet 13-1, conveying outlet 13-2 and conveying entrance 13-1 are located on identical axis, and the side the helical mount 13-3 is provided with one It is oriented to roller support 13-4, guiding roller support 13-4 is fixedly connected with bottom plate 2, is oriented on roller support 13-4 and is rotatably connected to and conveys Export the extending direction of 13-2 perpendicular upper guide roller 13-5, lower steering roll 13-6 and driven roller 13-7, upper guide roller 13-5 At conveying outlet 13-2, lower steering roll 13-6 is located at conveying entrance 13-1, and driven roller 13-7 is located at upper guide roller 13-5 Underface, it is parallel with lower steering roll 13-6, spiral on the helical mount 13-3 and be provided with conveyer belt 13-8, conveyer belt 13-8 After from conveying outlet, 13-2 is drawn successively in pile warp after guide roller 13-5, driven roller 13-7, lower steering roll 13-6 from conveying entrance 13-1 enters helical mount 13-3, forms closed loop, has baffle 13-9 along conveying direction spaced set on conveyer belt 13-8, described The feeder motor 13-10 of driving driven roller 13-7 rotation is provided on bottom plate 2, feeder motor 13-10 electrically connects with controller 17 It connects, is controlled by controller 17.

The spiral helicine conveying mechanism 13 can effectively extend the total length of conveyer belt 13-8 in narrow space, reduce The tilt angle of conveyer belt 13-8 avoids tennis from conveyer belt 13-8 to increase the quantity that conveying device 13 stores tennis The case where falling, this has been greatly reduced the volume of tennis pick device.

It is additionally provided with radio location device 24 in the shell 1, the radio location device 24 and controller 17 are electrically Connection.Radio location device 24 can be realized a key and call and follow automatically, easy to operate, the carrying for the person of being convenient to use, Reduce unnecessary physical demands.

The ball storage barrel 12 is located at 2 top of bottom plate, and 12 bottom of ball storage barrel offers the bulb separation hole 29 passed through for tennis, described It is additionally provided with tennis projection mechanism 25 in shell 1, is provided with projection mouth 26 corresponding with projection mechanism 25 on 1 side wall of shell, One is connected on 12 outer bottom of ball storage barrel and leads ball plate 27, and the upper end for leading ball plate 27 is unclosed annular, is centered around bulb separation hole 29 Periphery, lower end extend to the goal mouth of projection mechanism 25, lead 27 upper surface of ball plate be provided with can accommodate and guide tennis lead ball Groove 28, the projection mechanism 25 are electrically connected with controller 17, are controlled by controller 17.

Tennis projection mechanism 25 is increased in tennis pick device, so that only having the tennis for picking up function originally Pick device has been further equipped with tennis projection function, and utilizes same ball storage barrel 12, internal structure is optimized, dexterously by net Ball projection is integrated with pickup, enriches function, topology layout is ingenious, reduces volume, avoids the consumption of user's physical strength, has Conducive to the raising of training effectiveness.

Vertical rotating is connected with a shaft 30 in the ball storage barrel 12, which is pierced by downwards ball storage barrel 12 Bottom, and be sequentially connected with bulb separation motor 31, bulb separation impeller 32, bulb separation impeller are connected in the shaft 30 in ball storage barrel 12 32 are made of at least three blades 33, and the spacing between any two blade 33 passes through for a tennis, the bulb separation motor 31 It is electrically connected with controller 17, is controlled by controller 17.Bulb separation motor 31 is fixedly mounted on the bottom plate 2 immediately below ball storage barrel, It is direct-connected with shaft 30.

31 impeller 32 of bulb separation motor rotates, and the blade on impeller 32 stirs the rolling of the tennis in ball storage barrel 12, to keep away It is stuck in ball storage barrel 12 to exempt from tennis, and controller 17 can control the revolving speed of bulb separation motor 31, to adjust tennis from bulb separation hole 29 The frequency inside fallen successively changes tennis and projects frequency.

The projection mechanism 25 includes the vertical plate 25-1, vertical plate 25-1 being vertically provided in shell 1, with projection 26 face of mouth On offer installing port 25-2 with projection 26 face of mouth, be rotatably connected to serving wheel 25-3 and lower service in installing port 25-2 25-4 is taken turns, the spacing between upper serving wheel 25-3 and lower serving wheel 25-4 is slightly less than tennis diameter, the upper serving wheel 25-3's Axis is rotatably connected on vertical plate 25-1 back to the side of projection mouth 26, and the axis of lower serving wheel 25-4 is rotatably connected on vertical plate 25-1 court To the side of projection mouth 26, it is connected on the bottom plate 2 under the upper service motor 25-5 for driving upper serving wheel 25-3 rotation, driving Serving wheel 25-4 rotation issues ball motor 25-6, the upper service motor 25-5, issue ball motor 25-6 respectively with controller 17 are electrically connected, and are controlled by controller 17.

As shown in Fig. 2, upper serving wheel 25-3 is rotated counterclockwise, and lower serving wheel 25-4 is rotated clockwise when service, tennis warp It leads ball plate 27 to roll between supreme serving wheel 25-4 and lower serving wheel 25-5, due to upper serving wheel 25-4 and lower serving wheel 25-5 Between spacing less than a tennis diameter, therefore, tennis can be involved in supreme serving wheel 25-4 and lower serving wheel 25-5 it Between and be extruded Light deformation and form elastic potential energy, followed by the rotation of upper serving wheel 25-4 and lower serving wheel 25-5, again It is disengaged to serving wheel 25-4 and lower serving wheel 25-5, before disengaging, the elastic potential energy of tennis discharges, and in supreme serving wheel Under the induced effect of 25-4 and lower serving wheel 25-5, projected from projection mouth 26.

2 ovalisation of bottom plate, the bottom plate axis 4 are the long axis of bottom plate 2, and 5 quantity of pickup hole is one, edge The rear end of bottom plate 2, the arc panel 8, roller 6, conveying mechanism 13, ball storage barrel 12, projection 25 edge of mechanism is arranged in bottom plate axis 4 The axial direction of bottom plate 2 is successively arranged from 2 rear end forward end of bottom plate, and two cameras 16 are located at 26 top of projection mouth, 2 lower end surface of bottom plate Downwardly convex block 34 is respectively arranged with positioned at 5 two sides of hole are picked up, and forms that a front end is big, rear end is small between two blocks 34 The tennis that two blocks 34 are intercepted is guided to entrance 10 is picked up, picks up, mention through roller 6 by tubaeform guiding port 35, guiding port 35 Height picks up efficiency.

The principles and effects of the invention, and the embodiment that part uses only is illustrated in above-described embodiment, And is not intended to limit the present invention；It should be pointed out that for those of ordinary skill in the art, not departing from the invention structure Under the premise of think of, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.

Claims (9)

1. integral type tennis training robot, including shell (1) are picked up in a kind of projection, shell (1) bottom is bottom plate (2), bottom plate (2) lower end surface is provided with walking mechanism (3), which is characterized in that one is offered on bottom plate (2) along bottom plate axis (4) extension It picks up hole (5), picks up the roller (6) being rotatably connected in hole (5) perpendicular to bottom plate axis (4), pick up hole (5) side bottom plate (2) it is connected with the pickup motor (7) of driving roller (6) rotation on, is fixedly connected in the pickup hole (5) of roller (6) axial direction side Have one piece with roller (6) axle center for circular arc panel (8), arc panel (8) lower end is located at bottom plate (2) lower section, on arc panel (8) End is located above bottom plate (2), and arc panel (8) two sides are connected with side baffle (9), arc panel (8), side baffle (9) and roller (6) structure At the pickup channel that can accommodate tennis, picks up channel and be located at the opening below bottom plate (2) to pick up entrance (10), being located at bottom plate (2) opening above is to pick up outlet (11), and the distance between arc panel (8) cancave cambered surface and roller (6) are slightly less than tennis diameter, Tennis is overcome to fall naturally the chucking power of tennis so as to pick up channel, it is straight that the distance between roller (6) and ground are less than tennis Diameter, the lower edge for picking up entrance (10) are located at below roller (6), and shell (1) is internally provided with a ball storage barrel (12) and one defeated The conveying mechanism (13) of tennis is sent, storage ball entrance (14) is offered on ball storage barrel (12), one end of conveying mechanism (13) is conveying Entrance (13-1), the other end are conveying outlet (13-2), each pickup outlet (11) for picking up channel and conveying entrance (13-1) phase Right, relatively, the ball storage barrel (12) is located above bottom plate (2), ball storage barrel (12) for conveying outlet (13-2) and storage ball entrance (14) Bottom offers the bulb separation hole (29) passed through for tennis, and tennis projection mechanism (25), shell are additionally provided in the shell (1) (1) it is provided with projection mouth (26) corresponding with projection mechanism (25) on side wall, is connected with one on ball storage barrel (12) outer bottom and leads Ball plate (27), the upper end for leading ball plate (27) are centered around bulb separation hole (29) periphery, and lower end extends to the goal mouth of projection mechanism (25), Leading ball impression slot (28) for tennis can be accommodated and guide by leading ball plate (27) upper surface and being provided with, be provided in shell (1) respectively with pick up The controller (17) for taking motor (7), conveying mechanism (13), walking mechanism (3), projection mechanism (25) to be electrically connected, the shell (1) electrical equipment being additionally provided on tennis pick device in provides the mobile power source of electric energy.

2. integral type tennis training robot is picked up in a kind of projection according to claim 1, which is characterized in that the walking Mechanism (3) includes three wheels (3-1) at triangular arrangement being fixedly connected on bottom plate (2) lower end surface, two of them wheel Sub (3-1) is coaxially disposed and is driven respectively by independent movable motor (3-2), another wheel (3-1) is universal wheel, two rows It walks motor (3-2) to be electrically connected with controller (17) respectively, be controlled by controller (17).

3. integral type tennis training robot is picked up in a kind of projection according to claim 1, which is characterized in that be located at bottom plate A manipulator (15) is symmetrically arranged on the shell (1) of axis (4) two sides, also set up on the shell (1) there are two laterally The camera (16) being arranged side by side, the manipulator (15) and camera (16) are electrically connected with controller (17) respectively.

4. integral type tennis training robot is picked up in a kind of projection according to claim 3, which is characterized in that be located at bottom plate It is symmetrically opened up on shell (1) side wall of axis (4) two sides there are two mouth (18) are stored, is located at bottom plate axis (4) in shell (1) Two sides be respectively arranged with two pieces and be relatively vertically connected to partitions (19) on bottom plate in parallel, it is same to be located at bottom plate axis (4) Accommodating groove (20) are constituted between two partitions (19) of side, accommodating groove (20) one end storage mouth ipsilateral with bottom plate axis (4) are located at (18) it docks, the other end is fixedly connected with a telescope motor (21), and being additionally provided with one in accommodating groove (20) can be in telescope motor (21) sliding block (22) to slidably reciprocate between storage mouth (18), the two sides of the sliding block (22) are slided with corresponding partition (19) respectively It connects, a screw rod (23) for being parallel to sliding block (22) glide direction, screw rod (23) and flexible electricity is threaded on sliding block (22) Machine (21) is coaxially connected, is driven and is rotated by telescope motor (21), two manipulators (15) are mounted on sliding block correspondingly (22) on, the telescope motor (21) and controller (17) are electrically connected, and are controlled by controller (17).

5. integral type tennis training robot is picked up in a kind of projection according to claim 1, which is characterized in that the conveying Mechanism (13) includes the helical mount (13-3) of a coiled coil along the vertical direction, and the helical mount upper end (13-3) is to enter with storage ball The opposite conveying of mouth (14) exports (13-2), and the helical mount lower end (13-3) is conveying entrance opposite with outlet (11) is picked up (13-1), conveying outlet (13-2) and conveying entrance (13-1) are located on identical axis, helical mount (13-3) side It is provided with a guiding roller support (13-4), guiding roller support (13-4) is fixedly connected with bottom plate (2), in guiding roller support (13-4) It is rotatably connected to the upper guide roller (13-5) perpendicular with the extending direction of conveying outlet (13-2), lower steering roll (13-6) and drives Dynamic roller (13-7), upper guide roller (13-5) are located at conveying outlet (13-2), and lower steering roll (13-6) is located at conveying entrance (13- 1) place, driven roller (13-7) are located at the underface of upper guide roller (13-5), the helical mount parallel with lower steering roll (13-6) It spirals and is provided with conveyer belt (13-8) on (13-3), conveyer belt (13-8) is successively led in pile warp after drawing from conveying outlet (13-2) Enter helical mount (13-3) from conveying entrance (13-1) after to roller (13-5), driven roller (13-7), lower steering roll (13-6), shape At closed loop, have baffle (13-9) on conveyer belt (13-8) along conveying direction spaced set, is provided with driving on the bottom plate (2) The feeder motor (13-10) of driven roller (13-7) rotation, feeder motor (13-10) and controller (17) are electrically connected, are controlled Device (17) control.

6. integral type tennis training robot is picked up in a kind of projection according to claim 1, which is characterized in that the shell (1) radio location device (24) are additionally provided in, the radio location device (24) and controller (17) are electrically connected.

7. integral type tennis training robot is picked up in a kind of projection according to claim 1, which is characterized in that the storage ball Cylinder (12) interior vertical rotating is connected with a shaft (30), which is pierced by downwards the bottom of ball storage barrel (12), and It is sequentially connected with bulb separation motor (31), is connected with bulb separation impeller (32), bulb separation leaf in the shaft (30) being located in ball storage barrel (12) Wheel (32) is made of at least three blades (33), and the spacing between any two blade (33) passes through for a tennis, and described point Ball motor (31) and controller (17) are electrically connected, and are controlled by controller (17).

8. integral type tennis training robot is picked up in a kind of projection according to claim 1, which is characterized in that the projection Mechanism (25) includes the vertical plate (25-1) being vertically provided in shell (1), with projection mouth (26) face, is opened on vertical plate (25-1) Equipped with the installing port (25-2) with projection mouth (26) face, be rotatably connected in installing port (25-2) serving wheel (25-3) and under Serving wheel (25-4), the axis of the upper serving wheel (25-3) be rotatably connected on vertical plate (25-1) back to projection mouth (26) side, The axis of lower serving wheel (25-4) is rotatably connected on the side of vertical plate (25-1) direction projection mouth (26), connects on the bottom plate (2) Serving wheel (25-4) rotation issues ball motor under having the upper service motor (25-5) for driving upper serving wheel (25-3) rotation, driving (25-6), the upper service motor (25-5), issue ball motor (25-6) respectively with controller (17) be electrically connected, by controller (17) it controls.

9. integral type tennis training robot is picked up in a kind of projection according to claim 1, which is characterized in that the bottom plate (2) ovalisation, the bottom plate axis (4) the i.e. long axis of bottom plate (2), the pickup hole (5) are arranged along bottom plate axis (4) bottom of at The rear end of plate (2), the arc panel (8), roller (6), conveying mechanism (13), ball storage barrel (12), projection mechanism (25) are along bottom plate (2) axial direction is successively arranged from bottom plate (2) rear end forward end, and two cameras (16) are located above projection mouth (26), under bottom plate (2) End face is located at pickup hole (5) two sides and is respectively arranged with downwardly convex block (34), and a front end is formed between two blocks (34) Greatly, the small tubaeform guiding port (35) in rear end.