CN209438009U - A kind of intelligent tennis ball pitching robot - Google Patents
A kind of intelligent tennis ball pitching robot Download PDFInfo
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- CN209438009U CN209438009U CN201821672440.1U CN201821672440U CN209438009U CN 209438009 U CN209438009 U CN 209438009U CN 201821672440 U CN201821672440 U CN 201821672440U CN 209438009 U CN209438009 U CN 209438009U
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- 230000001105 regulatory effect Effects 0.000 claims description 52
- 230000008093 supporting effect Effects 0.000 claims description 43
- 238000003384 imaging method Methods 0.000 claims description 14
- 239000003381 stabilizer Substances 0.000 claims description 11
- 241000883990 Flabellum Species 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 210000004209 hair Anatomy 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 206010004542 Bezoar Diseases 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 11
- 238000012549 training Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Abstract
The utility model discloses a kind of intelligent tennis ball pitching robots, including rotation service component, release component, lifting part, moving parts, 4 fixation members, tennis ball railings, 4 fixation members are separately fixed at the rear and front end below moving parts, lifting part is equipped with above the moving parts, the release component is located above lifting part, and one upper side of release component is equipped with tennis ball railings, the other side of the release component is equipped with rotation service component；The utility model design safety is reliable, more course of action multi-mode services, flexible and fixed switching in field, stability of serving a ball is high, and service frequency is controllable, any drop point in any ball launch angle in space and field, the utility model functional component can be replaced according to demand, and use scope is wide, and promotional value is high.
Description
Technical field
The utility model relates to a kind of intelligent tennis ball pitching robots, belong to intelligent robot technology field.
Background technique
The tennis sports fierce as a Xiang Youmei are prevailing in the whole world, and not only tennis hobby group is increasingly strong
Greatly, the requirement and to tennis training technology is also higher and higher, however training, popular intelligence fewer and fewer with intelligent robot
Training place it is even more fewer and fewer, the tennis training of high quality leave coaching staff completion, efficiency, cost also accordingly increase.If
It is high to count a kind of stability, adapts to more places, the intelligent tennis ball pitching robot of more courses of action can solve this status.
Utility model content
The utility model aim is to provide a kind of intelligent tennis ball pitching robot, is instructed instead of artificial and traditional service robot
Practice work, reduces training cost and improve training effectiveness.
The utility model is realized by following technical scheme: a kind of intelligent tennis ball pitching robot, including rotation service component,
Release component, lifting part, moving parts, 4 fixation members, tennis ball railings；
4 fixation members are separately fixed at the rear and front end below moving parts, are equipped with above the moving parts
Lifting part, the release component are located above lifting part, and one upper side of release component is equipped with tennis ball railings, the release portion
The other side of part is equipped with rotation service component.
The rotation service component includes service platform, two serving wheels, two serving wheel speed regulating motors, two serving wheels
Limit shaft, serving wheel support plate, imaging sensor, two rotary stopper axis, rotation control panel, rotary power steering engine；
For the service stage+module above lifting part, described two serving wheels go to upper and lower arrangement, two services
It is respectively equipped with bearing on wheel limit shaft, described two serving wheels are separately mounted on the bearing of two serving wheel limit shafts, and two
The both ends of bearing on root serving wheel limit shaft are respectively equipped with limiting gasket, and one end of two serving wheel limit shafts is pacified respectively
Fill serving wheel speed regulating motor, and two shafts of two serving wheel speed regulating motors be each passed through bearing two sides limiting gasket it is upper,
Lower both ends, two serving wheel limit shafts are connect with the inner core of two serving wheel speed regulating motors respectively, two serving wheel limit shafts
The upper/lower terminal that both ends are each passed through serving wheel support plate, rotate control panel, and two serving wheel limit shafts pass through serving wheel branch
It is secured with nuts respectively at the upper/lower terminal of fagging, one end of two rotary stopper axis is each passed through serving wheel support plate
Middle part, the middle part for rotating control panel, the other end of two rotary stopper axis are each passed through service platform, and two rotary stopper axis
The other end pass through service platform at be secured with nuts respectively, it is described rotation control panel a side panel side be equipped with incomplete tooth,
The rotary power steering engine is mounted below service platform, and the incomplete tooth of the gear of rotary power steering engine and rotation control panel
Engagement, the imaging sensor are mounted on service platform, are respectively equipped with sliding slot on the two sidewalls of the service platform.
The release component include delivery pipe I, delivery pipe II, duct, closure door, ducted fan, telescoping tube, delivery pipe III,
Frequency controller, motor, speed regulating motor；
The delivery pipe I is fixed on service platform by riding, and the bottom of the delivery pipe I is located at rotation service
Among two serving wheels of component, the top of the delivery pipe I be located at duct outlet lower section, the duct include ducted fan and
Duct channel is equipped with screen casing in the duct channel, and the one end in the duct channel is outlet, and exit is equipped with envelope
Door, the top of the closure door are connect with the top of duct channel outlet, and hole is provided at the top of the duct channel, is equipped with above hole
Ducted fan, the ducted fan include central axis, a piece of above flabellum, fixed disk, and it is logical that the fixed disk is fixed on duct
Above road, the central axis is fixedly connected with one end of a piece of above flabellum, and a piece of above flabellum is located at fixed disk
Interior, the speed regulating motor is fixed by the bracket above the hole of duct channel roof, and the output shaft of speed regulating motor passes through shaft coupling
It is connected to the other end of center axis connection, the duct channel with one end of delivery pipe II, the delivery pipe II is solid by bracket
It is scheduled on above service platform, the other end of delivery pipe II is connected to the top of telescoping tube, bottom end and the delivery pipe III of telescoping tube
One end connection, the other end of delivery pipe III are located at below frequency controller, and delivery pipe III is located at service platform rear, the frequency
Controller includes turntable, and the turntable is fixed on III top of delivery pipe, tennis ball railings lower section, and the turntable is equipped with more than one
It loses hole, the turntable bottom is fixedly connected with one end of transmission shaft, the other end installation band gear I of the transmission shaft, described
Motor is fixed by the bracket below frequency controller, and the output shaft of the motor is equipped with band gear II, the band gear II
It is connect by belt with gear I.
The lifting part includes upper plate, rotationally supports plate, one or more telescopic supporting rod, two support rods I, two
IV, 4 pulley of the support rod of support rod III, two of root support rod II, two, 2 connectors, two telescopic rods, two connecting rods,
Decelerating motor, gear；
The upper plate is located at below the service platform of rotation service component, is respectively equipped on the two sidewalls of the upper plate
Pulley is installed in sliding slot, one end of described two connectors respectively, and described two connectors are located at two sides on upper plate, and institute
It in the sliding slot for the two sidewalls that the pulley for stating two connector one end is located at upper plate, is moved in sliding slot, described two companies
The other end of fitting is connect with one end of two support rods II respectively, the other end of two support rods II respectively with two support rods
IV one end connection, the other end of two support rods IV install pulley, and the cunning of the other end of two support rods IV respectively
Wheel is separately mounted in the sliding slot of the service platform two sidewalls of rotation service component, is slided in sliding slot, two support rods I
One end be connected on upper plate, the other end of two support rods I is connect with one end of two support rods III respectively, two
The other end of support rod III is connect with the both ends of the service platform of rotation service component respectively, the middle part of two support rods II
It is connect respectively with the middle part of two support rods I, middle part of the middle part of two support rods III respectively with two support rods IV connects
Connect, and between two support rods IV, connecting rod, the connecting rod between two support rods IV are respectively equipped between two support rods I
Both ends be respectively equipped with connection frame, the bottom of two telescopic rods is connect with two connectors respectively, the top part of two telescopic rods
The connection frame at the connecting rod both ends not between two support rods IV is connect, and described one or more telescopic supporting rod is mounted on
Below bottom plate, one end of one or more telescopic supporting rod is separately mounted to rotationally support the both ends of plate, one or more flexible
The other end of support rod is connect with the bottom of upper plate respectively, described to rotationally support on panel mounting dynamic component, and is rotationally supported
Open circles are provided in the middle part of plate, open circles are equipped with tooth, and the decelerating motor is mounted on moving parts, and the output of decelerating motor
Gear, the gear and the tooth engagement for rotationally supporting open circles in the middle part of plate are installed on axis.
The moving parts include lower plate, two support frames, two steering power steering engines, two front wheel supporting framves, two
Root front-wheel limit shaft, two front-wheels, two rear-wheels, two rear-wheel speed regulating motors, rear-wheel limit shaft, two rear-wheel caging bolts,
Circuit board, battery pack；
The middle part of the bottom plate top surface is equipped with hollow circular bosses, and rotationally supporting for the lifting part is hollow in the middle part of plate
Circle is mounted on the hollow circular bosses of lower plate, and the decelerating motor of the lifting part is mounted on hollow circular bosses by bracket
Interior, the front end two sides of the lower plate are respectively fixed with front wheel supporting frame, and described two front wheel supporting framves are located at lower plate
Lower section, and axis is respectively equipped at the top of two front wheel supporting framves, steering power rudder is installed in the front end two sides of the lower plate respectively
Machine, two steering power steering engines are located at two front wheel supporting framves) top, the axis of described two front wheel supporting top of the trellis point
Not Chuan Guo lower plate connect with the rotor of steering power steering engine, two front-wheel limit shafts are each passed through front wheel supporting frame, and
Front-wheel is installed respectively, the two sides of lower plate bottom rear end are respectively fixed with support frame, after described on two front-wheel limit shafts
The both ends of wheel limit shaft are each passed through the support frame of two sides, and rear-wheel speed regulating motor, institute are installed in the both ends of rear-wheel limit shaft respectively
It states two rear-wheels to be separately mounted on the output shaft of rear-wheel speed regulating motor at both ends, and respectively will be after two with rear-wheel caging bolt
Wheel is fixed, and the bottom of the lower plate is equipped with circuit board, and the circuit board side is equipped with battery pack, and the battery pack passes through bracket
It is fixed on lower plate bottom, the circuit board includes control system, described two steering power steering engines, two rear-wheel speed regulating motors
It is connect respectively by conducting wire with control system.
4 fixation member structures are identical, each fixation member include rotating support, back support rod, support lever,
Front support rod, stabilizer blade, front support telescopic rod, rear support telescopic rod, steering engine；
The rotating support is mounted on the lower plate of moving parts, and the rotating support and lower plate bottom it
Between be equipped with steering engine, the top of the steering engine and rotating support connects, and one end of rear support telescopic rod is supported by axis and rotation
The other end of frame connection, rear support telescopic rod is connect by axis with support lever, and the support lever passes through back support rod and rotation
Turn support frame connection, one end of the front support rod is connected by the front end of axis and support lever, the top of stabilizer blade and front support
The other end of bar connects, and the bottom of stabilizer blade is rest on the ground, and one end of the front support telescopic rod is connected by axis and support lever
It connects, the other end of front support telescopic rod is connected by the other end of axis and front support rod.
Two serving wheel speed regulating motors, imaging sensor, rotary power steering engine, the release component of the rotation service component
Motor, speed regulating motor pass through the control systems of conducting wire and moving parts respectively and connect, the speed regulating motor of the release component is also
By the battery pack of conducting wire and moving parts connect, described two serving wheel speed regulating motors also pass through conducting wire respectively with moving parts
Battery pack connection, one or more telescopic supporting rod of the lifting part, two telescopic rods, decelerating motors respectively with it is motor-driven
The battery pack of component connects, and one or more telescopic supporting rod of lifting part, two telescopic rods, decelerating motors pass through respectively
The connection of the control system of conducting wire and moving parts, front support telescopic rod, the rear support telescopic rod, steering engine of 4 fixation members
It is connected respectively by the control system of conducting wire and moving parts.
The tennis ball railings bottom angled.
The working principle of the utility model is as follows:
External control devices assign start command to control system, complete by control system analysis self structure and analyze rotation
The imaging sensor of ball part is forwarded to scan the information of locating court position, the maneuver autopilot part of control system carries out differential point
Start to complete traveling process to two rear-wheel speed regulating motors power supplies while analysis and steering analysis；Make a reservation for when robot admission reaches
Position, imaging sensor scan site location and pass through two rear-wheel speed regulation of control by maneuver control system after control system is handled
Motor calibration fuselage, maneuvering system interrupts the power supply of two rear-wheel speed regulating motors after correction, and starts to the 4 of fuselage two sides
The steering engine of a fixation member powers and sends signal, and the fixation member of fuselage two sides symmetrically controls, front and back independent control, front and back
Rotating support 39 respectively rotates 30-60 degree, subsequent front support telescopic rod and rear support telescopic rod to side under the control of steering engine
The form for receiving the signal extension and contraction control stabilizer blade of control system is fixed on ground simultaneously stablizes robot automobile body, maneuver autopilot system
System maintains current state；Robot generates electric signal according to the processing analysis of tennis training demand and controls each section mechanism；Vehicle body
After fixation, control system activation controls above the waist, sends rotating signal to lifting part, the decelerating motor of lifting part receives letter
Number and with moving gear rotate, gear drive rotationally supports plate rotation, so as to rotate robot by required service level angle,
One or more telescopic supporting rod of the lifting part of control system control simultaneously, two telescopic rod movements, so that it is flat to adjust lifting
Platform height, control system control the rotation and the speed of rotation of the frequency controller motor below tennis ball railings, motor by electric signal
Band gear II is driven to rotate, band gear II drives band gear I to rotate by belt, so that frequency controller be driven to rotate；Tennis
The losing in hole of frequency controller is rolled into along acclive cage, the frequency controller of rotation drives tennis to enter delivery pipe
Ⅲ；The ducted fan of service table top is battery powered and rotates by given pace, due to the closure door of duct outlet, by defeated
Send pipe III to duct exit formed pressure difference, into delivery pipe III tennis pressure difference driving under, along pipe motion to seal
Door is simultaneously rushed open, and is then taken advantage of a situation and is rolled to serving wheel along delivery pipe I, and closure door is closed again because of elasticity and pressure difference；Service platform
The rotary power steering engine of lower section is controlled through control system rotates angle, on the gear and rotation control panel of rotary power steering engine not
Complete gear engagement, controls the relative angle on two serving wheel vertical directions, to control the ball launch angle on vertical direction；
The serving wheel speed regulating motor of serving wheel side is battery powered, control system controls speed, and tennis is rolled out through delivery pipe I by upper and lower
The friction and extruding of two serving wheels and project, at this point, robot completes the transmitting of tennis.
The utility model has the following beneficial effects:
(1) the utility model design safety is reliable, more course of action multi-mode services.
(2) flexible in the utility model field and fixed switching, service stability are high.
(3) the utility model service frequency is controllable, any drop point in any ball launch angle in space and field.
(4) the utility model functional component can be replaced according to demand, and use scope is wide, and promotional value is high.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the structural schematic diagram of the utility model rotation service component；
Fig. 3 is the attachment structure schematic diagram of the serving wheel speed regulating motor of the utility model rotation service component；
Fig. 4 is the structural schematic diagram of the utility model release component；
Fig. 5 is the attachment structure schematic diagram of the conveyance conduit of the utility model release component；
Fig. 6 is the attachment structure schematic diagram of the utility model frequency controller；
Fig. 7 is the part drawing of the utility model frequency controller；
Fig. 8 is the structural schematic diagram of the utility model lifting part；
Fig. 9 is the attachment structure schematic diagram of the utility model lifting part；
Figure 10 is the connection schematic diagram of the utility model lifting part and rotation service component；
Figure 11 is the structural schematic diagram of the utility model moving parts；
Figure 12 is the structural schematic diagram of the utility model fixation member；
Each label in figure: 1- rotation service component, 2- release component, 3- lifting part, 4- lose hole, 5- moving parts,
6- fixation member, 7- tennis ball railings, 8- upper plate, 9- lower plate, 10-, 11- service platform, 12- serving wheel, 13- serving wheel tune
Speed motor, 14- serving wheel limit shaft, 15- serving wheel support plate, 16- imaging sensor, 17- rotary stopper axis, 18- rotation control
Disk processed, 19- rotary power steering engine, 20- delivery pipe I, 21- closure door, 22- duct, 23- ducted fan, 24- telescoping tube, 25- conveying
Pipe III, 26- frequency controller, 27- rotationally support plate, 28- telescopic supporting rod, 29- support rod I, 30-, 31- steering power rudder
Machine, 32- front wheel supporting frame, 33- front-wheel limit shaft, 34- front-wheel, 35- rear-wheel, 36- rear-wheel speed regulating motor, 37- rear-wheel limit shaft,
38- rear-wheel caging bolt, 39- rotating support, 40- back support rod, 41- support lever, 42- front support rod, 43- stabilizer blade, 44-
Front support telescopic rod, 45- rear support telescopic rod, 46- bearing, 47- limiting gasket, 48- shaft, 49- motor, 50- screen casing, 51-
Duct channel, 52- central axis, 53- flabellum, 54- fixed disk, 55- delivery pipe II, 56- turntable, 57- transmission shaft, 58- band gear
I, 59- band gear II, 60- support rod II, 61- support rod III, 62- support rod IV, 63- pulley, 64- connector, 65- are flexible
Bar, 66- connecting rod.
Specific embodiment
With reference to the accompanying drawings and examples, the utility model is described in further detail, but the content of the utility model is not
It is limited to the range.
Embodiment 1: as shown in Fig. 1 ~ 12, this intelligent tennis ball pitching robot, including rotation service component 1, release component
2, lifting part 3, moving parts 5,4 fixation members 6, tennis ball railings 7；
4 fixation members 6 are separately fixed at the rear and front end of 5 lower section of moving parts, set above the moving parts 5
There is lifting part 3, the release component 2 is located at 3 top of lifting part, and 2 one upper side of release component is equipped with tennis ball railings 7, institute
The other side for stating release component 2 is equipped with rotation service component 1.
The rotation service component 1 includes service 11, two, platform serving wheel 12, two serving wheel speed regulating motor 13, two
Root serving wheel limit shaft 14, serving wheel support plate 15,16, two rotary stopper axis 17 of imaging sensor, rotation control panel 18, rotation
Rotatory force steering engine 19；
The service platform 11 is mounted on the top of lifting part 3, and described two serving wheels 12 go to upper and lower arrangement, and described two
Bearing 46 is respectively equipped on root serving wheel limit shaft 14, described two serving wheels 12 are separately mounted to two serving wheel limit shafts 14
Bearing 46 on, and the both ends of the bearing 46 on two serving wheel limit shafts 14 are respectively equipped with limiting gasket 47, two hairs
One end of ball wheel limit shaft 14 is installed by serving wheel speed regulating motor 13, and two shafts 48 of two serving wheel speed regulating motors 13 respectively
Be each passed through the upper/lower terminal of 46 two sides limiting gasket 47 of bearing, two serving wheel limit shafts 14 respectively with two serving wheel tune
The inner core of speed motor 13 connects, and the both ends of two serving wheel limit shafts 14 are each passed through serving wheel support plate 15, rotation control panel
18 upper/lower terminal, and two serving wheel limit shafts 14 pass through and are consolidated respectively with nut at the upper/lower terminal of serving wheel support plate 15
Middle part fixed, that one end of two rotary stopper axis 17 is each passed through 15 middle part of serving wheel support plate, rotates control panel 18, two
The other end of root rotary stopper axis 17 is each passed through service platform 11, and the other end of two rotary stopper axis 17 passes through service and puts down
It is secured with nuts respectively at platform 11, a side panel side of the rotation control panel 18 is equipped with incomplete tooth, the rotary power rudder
Machine 19 is mounted on 11 lower section of service platform, and the incomplete tooth engagement of the gear of rotary power steering engine 19 and rotation control panel 18,
The imaging sensor 16 is mounted on service platform 11, is respectively equipped with sliding slot on the two sidewalls of the service platform 11.
The release component 2 includes delivery pipe I 20, delivery pipe II 55, duct 22, closure door 21, ducted fan 23, telescoping tube
24, delivery pipe III 25, frequency controller 26, motor 49, speed regulating motor；
The delivery pipe I 20 is fixed on service platform 11 by riding, and the bottom of the delivery pipe I 20 is located at rotation
Among two serving wheels 12 for forwarding ball part 1, the top of the delivery pipe I 20 is located at the outlet of duct 22 lower section, the duct
22 include ducted fan 23 and duct channel 51, is equipped with screen casing 50 in the duct channel 51, the duct channel 51
One end is outlet, and exit is equipped with closure door 21, and the top of the closure door 21 is connect with the top that duct channel 51 exports, described
The top in duct channel 51 is provided with hole, and ducted fan 23 is equipped with above hole, and the ducted fan 23 includes central axis 52, four fans
Leaf 53, fixed disk 54, the fixed disk 54 are fixed on 51 top of duct channel, one end of the central axis 52 and four flabellums 53
It is fixedly connected, four flabellums 53 are located in fixed disk 54, and the speed regulating motor is fixed by the bracket to be pushed up in duct channel 51
Above the hole in portion, the output shaft of speed regulating motor is connect by shaft coupling with central axis 52, the other end in the duct channel 51 and
One end of delivery pipe II 55 is connected to, and the delivery pipe II 55 is fixed by the bracket above service platform 11, delivery pipe II 55
The other end is connected to the top of telescoping tube 24, and the bottom end of telescoping tube 24 is connected to one end of delivery pipe III 25, delivery pipe III 25
The other end is located at 26 lower section of frequency controller, and delivery pipe III 25 is located at service 11 rear of platform, and the frequency controller 26 includes
Turntable 56, the turntable 56 are fixed on the top of delivery pipe III 25,7 lower section of tennis ball railings, set that there are four holes of losing on the turntable 56
4,56 bottom of turntable is fixedly connected with one end of transmission shaft 57, the other end installation band gear I 58 of the transmission shaft 57, institute
It states motor 49 to be fixed by the bracket below frequency controller 26, the output shaft of the motor 49 is equipped with band gear II 59, institute
Band gear II 59 is stated to connect by belt 10 with gear I 58.
The lifting part 3 include upper plate 8, rotationally support the telescopic supporting rod 28, two of plate 27,3 support rod I 29,
Two 63,2, pulley, 64, two telescopic rods of connector of support rod IV 62,4 of support rod III 61, two of support rod II 60, two
65, two connecting rods 66, decelerating motors, gears；
The upper plate 8 is located at 11 lower section of service platform of rotation service component 1, divides on the two sidewalls of the upper plate 8
Not She You sliding slot, one end of described two connectors 64 installs pulley 63 respectively, and described two connectors 64 are located at bottom
Two sides on plate 8, and in the sliding slot of the pulley 63 of 64 one end of the described two connectors two sidewalls that are located at upper plate 8, in cunning
Movement, the other end of described two connectors 64 are connect with one end of two support rods II 60 respectively in slot, two support rods II
60 other end is connect with one end of two support rods IV 62 respectively, and the other end of two support rods IV 62 installs cunning respectively
Wheel 63, and the pulley 63 of the other end of two support rods IV 62 is separately mounted to 11 two sides of service platform of rotation service component 1
It in the sliding slot of wall, is slided in sliding slot, one end of two support rods I 29 is connected on upper plate 8, two support rods
I 29 other end is connect with one end of two support rods III 61 respectively, and the other end of two support rods III 61 is sent out with rotation respectively
The both ends connection of the service platform 11 of ball part 1, the middle part of two support rods II 60 is respectively and in two support rods I 29
Portion's connection, the middle part of two support rods III 61 is connect with the middle part of two support rods IV 62 respectively, and two support rods IV
Between 62, connecting rod 66, the both ends point of the connecting rod 66 between two support rods IV 62 are respectively equipped between two support rods I 29
Not She You connection frame, the bottom of two telescopic rods 65 connect with two connectors 64 respectively, the top difference of two telescopic rods 65
The connection frame at 66 both ends of connecting rod between two support rods IV 62 is connect, and 3 telescopic supporting rods 28 are mounted on bottom
The lower section of plate 8, one end of 3 telescopic supporting rods 28 are separately mounted to rotationally support the both ends of plate 27,3 telescopic supporting rods 28 it is another
One end is connect with the bottom of upper plate 8 respectively, and the plate 27 that rotationally supports is installed on moving parts 5, and is rotationally supported in plate 27
Portion is provided with open circles, and open circles are equipped with tooth, and the decelerating motor is mounted on moving parts 5, and the output shaft of decelerating motor
Upper installation gear, the gear and the tooth engagement for rotationally supporting 27 middle part open circles of plate.
The moving parts 5 include the support frame 30, two of lower plate 9, two 31, two front wheel supportings of steering power steering engine
32, two, frame, 34, two, the front-wheel rear-wheel 35, two of front-wheel limit shaft 33, two rear-wheel speed regulating motor 36, rear-wheel limit shaft 37,
Two rear-wheel caging bolts 38, circuit board, battery packs；
The middle part of 9 top surface of lower plate is equipped with hollow circular bosses, and the lifting part 3 rotationally supports in the middle part of plate 27
Open circles are mounted on the hollow circular bosses of lower plate 9, and the decelerating motor of the lifting part 3 is mounted on open circles by bracket
In boss, the front end two sides of the lower plate 9 are respectively fixed with front wheel supporting frame 32, and described two front wheel supporting framves 32 distinguish position
In 9 lower section of lower plate, and the top of two front wheel supporting framves 32 is respectively equipped with axis, and the front end two sides of the lower plate 9 are pacified respectively
Steering power steering engine 31 is filled, two steering power steering engines 31 are located at the top of two front wheel supporting framves 32, before described two
The axis at 32 top of wheeling supporting frame is each passed through lower plate 9 and connect with the rotor of steering power steering engine 31, two front-wheels limit
Axis 33 is each passed through front wheel supporting frame 32, and installs front-wheel 34 on two front-wheel limit shafts 33 respectively, behind 9 bottom of lower plate
The two sides at end are respectively fixed with support frame 30, and the both ends of the rear-wheel limit shaft 37 are each passed through the support frame 30 of two sides, and after
Rear-wheel speed regulating motor 36 is installed at the both ends of wheel limit shaft 37 respectively, and described two rear-wheels 35 are separately mounted to the rear-wheel speed regulation at both ends
On the output shaft of motor 36, and it is with rear-wheel caging bolt 38 that two rear-wheels 35 are fixed respectively, the bottom of the lower plate 9 is equipped with
Circuit board, the circuit board side are equipped with battery pack, and the battery pack is fixed by the bracket in 9 bottom of lower plate, the circuit
Plate includes control system, and 31, two rear-wheel speed regulating motors 36 of described two steering power steering engines are by conducting wire and control respectively
System connection.
4 fixation members, 6 structure is identical, and each fixation member 6 includes rotating support 39, back support rod 40, branch
Support lever 41, front support rod 42, stabilizer blade 43, front support telescopic rod 44, rear support telescopic rod 45, steering engine；
The rotating support 39 is mounted on the lower plate 9 of moving parts 5, and the rotating support 39 and lower plate
Steering engine is equipped between 9 bottoms, the steering engine is connect with the top of rotating support 39, and one end of rear support telescopic rod 45 passes through axis
It is connect with rotating support 39, the other end of rear support telescopic rod 45 is connect by axis with support lever 41, the support lever
41 are connect by back support rod 40 with rotating support 39, before one end of the front support rod 42 is by axis and support lever 41
End connection, the top of stabilizer blade 43 are connect with the other end of front support rod 42, and the bottom of stabilizer blade 43 is rest on the ground, the front support
One end of telescopic rod 44 is connect by axis with support lever 41, and the other end of front support telescopic rod 44 passes through axis and front support rod 42
The other end connection.
Rotation service two serving wheel speed regulating motors 13 of component 1, imaging sensor 16, rotary power steering engine 19,
Motor 49, the speed regulating motor of release component 2 pass through conducting wire respectively and connect with the control system of moving parts 5, the release component 2
Speed regulating motor also pass through conducting wire and connect with the battery pack of moving parts 5, described two serving wheel speed regulating motors 13 are also by leading
Line is connect with the battery pack of moving parts 5 respectively, and telescopic supporting rod 28, two of one or more of the lifting part 3 are flexible
Bar 65, decelerating motor are connect with the battery pack of moving parts 5 respectively, and 3 telescopic supporting rods of lifting part 3 28, two are stretched
Contracting bar 65, decelerating motor pass through conducting wire respectively and connect with the control system of moving parts 5, the front support of 4 fixation members 6
Telescopic rod 44, rear support telescopic rod 45, steering engine pass through conducting wire respectively and connect with the control system of moving parts 5.
7 bottom angled of tennis ball railings.
The course of work of the present embodiment is as follows:
External control devices assign start command to control system, complete by control system analysis self structure and analyze rotation
The imaging sensor 16 of forwarding ball part 1 scans the information of locating court position, and it is poor that the maneuver autopilot part of control system carries out
Start to complete traveling process to two power supplies of rear-wheel speed regulating motors 36 while speed analysis and steering analysis；When robot admission is arrived
Up to predetermined position, imaging sensor 16 scans site location and passes through control two by maneuver control system after control system is handled
Rear-wheel speed regulating motor 36 corrects fuselage, and maneuvering system interrupts the power supply of two rear-wheel speed regulating motors 36 after correction, and starts
It powers to the steering engine of 4 fixation members 6 of fuselage two sides and sends signal, the fixation member 6 of fuselage two sides symmetrically controls, front and back
Independent control, the rotating support 39 of front and back respectively rotate 30-60 degree, subsequent front support telescopic rod to side under the control of steering engine
44 and the form of the signal extension and contraction control stabilizer blade 43 that receives control system of rear support telescopic rod 45 be fixed on ground simultaneously and make machine
People's vehicle body is stablized, and maneuver control system maintains current state；Robot generates telecommunications according to the processing analysis of tennis training demand
Number control each section mechanism；After vehicle body is fixed, control system activation controls above the waist, sends rotating signal to lifting part 3, rises
The decelerating motor for dropping component 3 receives signal and rotates with moving gear, and gear drive rotationally supports the rotation of plate 27, so as to make machine
People is rotated by required service level angle, while one or more telescopic supporting rod 28, two of control system control lifting part 3
Root telescopic rod 65 moves, to adjust hoistable platform height, control system controls the frequency control of 7 lower section of tennis ball railings by electric signal
The rotation and the speed of rotation of 26 motor 49 of device processed, motor 49 drive band gear II 59 to rotate, and band gear II 59 passes through 10 band of belt
Dynamic band gear I 58 rotates, so that frequency controller 26 be driven to rotate；Tennis rolls into frequency controller 26 along acclive cage
Lose in hole 4, the frequency controller 26 of rotation drives tennis to enter delivery pipe III 25；The ducted fan at 11 top of service platform
23 are battery powered and rotate by given pace, due to the closure door 21 of duct outlet, by delivery pipe III 25 to duct exit
Form pressure difference, into delivery pipe III 25 tennis under pressure difference driving, 21 and rushed open along pipe motion to closure door, with
After take advantage of a situation and roll to serving wheel 12 along delivery pipe I 20, closure door 21 is closed again because of elasticity and pressure difference；Rotation below service platform
Power steering engine 19 controls rotation angle through control system, the gear of rotary power steering engine 19 with rotate it is incomplete in control panel 18
Gear engagement, controls the relative angle on two 12 vertical directions of serving wheel, to control the ball launch angle on vertical direction；Hair
The serving wheel speed regulating motor of ball wheel side is battery powered, control system controls speed, and tennis is rolled out through delivery pipe I 20 by upper and lower
The friction and extruding of two serving wheels 12 and project, at this point, robot completes the transmitting of tennis.
The specific embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the utility model is not
Be limited to above embodiment, within the knowledge of a person skilled in the art, can also do not depart from it is practical
Various changes can be made under the premise of novel objective.
Claims (8)
1. a kind of intelligent tennis ball pitching robot, which is characterized in that including rotation service component (1), release component (2), lifting
Component (3), moving parts (5), 4 fixation members (6), tennis ball railings (7)；
4 fixation members (6) are separately fixed at the rear and front end below moving parts (5), moving parts (5) top
Equipped with lifting part (3), the release component (2) is located above lifting part (3), and (2) one upper side of release component is equipped with
The other side of tennis ball railings (7), the release component (2) is equipped with rotation service component (1).
2. intelligent tennis ball pitching robot according to claim 1, it is characterised in that: rotation service component (1) packet
Include service platform (11), two serving wheels (12), two serving wheel speed regulating motors (13), two serving wheel limit shafts (14), hair
Ball wheel support plate (15), imaging sensor (16), two rotary stopper axis (17), rotation control panel (18), rotary power steering engine
(19)；
The service platform (11) is mounted on above lifting part (3), and described two serving wheels (12) go to upper and lower arrangement, described
It is respectively equipped with bearing (46) on two serving wheel limit shafts (14), described two serving wheels (12) are separately mounted to two serving wheels
On the bearing (46) of limit shaft (14), and the both ends of the bearing (46) on two serving wheel limit shafts (14) are respectively equipped with limit pad
It encloses (47), one end of two serving wheel limit shafts (14) is installed serving wheel speed regulating motor (13) respectively, and two serving wheels
Two shafts (48) of speed regulating motor (13) are each passed through the upper/lower terminal of bearing (46) two sides limiting gasket (47), two hairs
Ball wheel limit shaft (14) is connect with the inner core of two serving wheel speed regulating motors (13) respectively, and the two of two serving wheel limit shafts (14)
The upper/lower terminal that end is each passed through serving wheel support plate (15), rotates control panel (18), and two serving wheel limit shafts (14) are worn
It crosses at the upper/lower terminal of serving wheel support plate (15) and is secured with nuts respectively, one end point of two rotary stopper axis (17)
Not Chuan Guo in the middle part of serving wheel support plate (15), the middle part of rotation control panel (18), the other end point of two rotary stopper axis (17)
It Chuan Guo not serve a ball platform (11), and the other end of two rotary stopper axis (17) passes through and consolidated respectively with nut at service platform (11)
Fixed, a side panel side of rotation control panel (18) is equipped with incomplete tooth, and the rotary power steering engine (19) is mounted on service
Below platform (11), and the incomplete tooth engagement of the gear of rotary power steering engine (19) and rotation control panel (18), the imaging
Sensor (16) is mounted in service platform (11), is respectively equipped with sliding slot on the two sidewalls of service platform (11).
3. intelligent tennis ball pitching robot according to claim 1, it is characterised in that: the release component (2) includes defeated
Send pipe I (20), delivery pipe II (55), duct (22), closure door (21), ducted fan (23), telescoping tube (24), delivery pipe III
(25), frequency controller (26), motor (49), speed regulating motor；
The delivery pipe I (20) is fixed in service platform (11) by riding, and the bottom of the delivery pipe I (20) is located at
Two serving wheels (12) of rotation service component (1) are intermediate, and the top of the delivery pipe I (20) is located under duct (22) outlet
Side, the duct (22) include ducted fan (23) and duct channel (51), are equipped with screen casing in the duct channel (51)
(50), one end of the duct channel (51) is outlet, and exit is equipped with closure door (21), the top of the closure door (21) and culvert
The top of road channel (51) outlet connects, and hole is provided at the top of the duct channel (51), is equipped with ducted fan (23) above hole,
The ducted fan (23) includes central axis (52), a piece of above flabellum (53), fixed disk (54), and the fixed disk (54) is solid
It being scheduled on above duct channel (51), the central axis (52) is fixedly connected with one end of a piece of above flabellum (53), and described one
Flabellum (53) more than piece is located in fixed disk (54), and the speed regulating motor is fixed by the bracket at the top of duct channel (51)
Above hole, the output shaft of speed regulating motor is connect by shaft coupling with central axis (52), the other end of the duct channel (51) and
One end of delivery pipe II (55) is connected to, and the delivery pipe II (55) is fixed by the bracket above service platform (11), delivery pipe
The other end of II (55) is connected to the top of telescoping tube (24), and the bottom end of telescoping tube (24) and one end of delivery pipe III (25) connect
Logical, the other end of delivery pipe III (25) is located at below frequency controller (26), after delivery pipe III (25) is located at service platform (11)
Side, the frequency controller (26) includes turntable (56), and the turntable (56) is fixed on delivery pipe III (25) top, tennis ball railings
(7) lower section, the turntable (56) are equipped with more than one hole of losing (4), turntable (56) bottom and transmission shaft (57)
One end is fixedly connected, and other end installation band gear I (58) of the transmission shaft (57), the motor (49) is fixed by the bracket
Below frequency controller (26), the output shaft of the motor (49) is equipped with band gear II (59), and the band gear II (59) is logical
Belt (10) is crossed to connect with gear I (58).
4. intelligent tennis ball pitching robot according to claim 1, it is characterised in that: the lifting part (3) includes upper
Bottom plate (8) rotationally supports plate (27), one or more telescopic supporting rod (28), two support rods I (29), two support rods II
(60), two support rods III (61), two support rods IV (62), 4 pulleys (63), 2 connectors (64), two telescopic rods
(65), two connecting rods (66), decelerating motors, gear；
The upper plate (8) is located at below the service platform (11) of rotation service component (1), the two sidewalls of the upper plate (8)
On be respectively equipped with sliding slot, one end of described two connectors (64) is installed pulley (63) respectively, described two connectors (64) point
Not Wei Yu two sides on upper plate (8), and the pulley (63) of described two connectors (64) one end is located at the two of upper plate (8)
In the sliding slot of side wall, moved in sliding slot, the other end of described two connectors (64) respectively with two support rods II (60)
One end connection, the other end of two support rods II (60) are connect with one end of two support rods IV (62) respectively, two branch
The other end of strut IV (62) is installed pulley (63) respectively, and the pulley (63) of the other end of two support rods IV (62) is pacified respectively
In the sliding slot of service platform (11) two sidewalls of rotation service component (1), slided in sliding slot, two support rods I
(29) one end is connected on upper plate (8), the other end of two support rods I (29) respectively with two support rods III (61)
One end connection, the other end of two support rods III (61) respectively with rotation service component (1) service platform (11) both ends
Connection, the middle part of two support rods II (60) are connect with the middle part of two support rods I (29) respectively, two support rods
The middle part of III (61) is connect with the middle part of two support rods IV (62) respectively, and between two support rods IV (62), two support
It is respectively equipped between bar I (29) connecting rod (66), the both ends of the connecting rod (66) between two support rods IV (62) are respectively equipped with
Connection frame, the bottom of two telescopic rods (65) are connect with two connectors (64) respectively, the top difference of two telescopic rods (65)
The connection frame at connecting rod (66) both ends between two support rods IV (62) is connect, described one or more telescopic supporting rod
(28) it is mounted below upper plate (8), one end of one or more telescopic supporting rod (28) is separately mounted to rotationally support plate
(27) other end at both ends, one or more telescopic supporting rod (28) is connect with the bottom of upper plate (8) respectively, the rotation
Support plate (27) is installed on moving parts (5), and is rotationally supported and be provided with open circles in the middle part of plate (27), and open circles are equipped with tooth, institute
State decelerating motor to be mounted on moving parts (5), and gear be installed on the output shaft of decelerating motor, the gear with rotationally support
The tooth engagement of open circles in the middle part of plate (27).
5. intelligent tennis ball pitching robot according to claim 1, it is characterised in that: under the moving parts (5) include
Bottom plate (9), two support frames (30), two steering power steering engines (31), two front wheel supporting framves (32), two front-wheel limit shafts
(33), two front-wheels (34), two rear-wheels (35), two rear-wheel speed regulating motors (36), rear-wheel limit shaft (37), two rear-wheel limits
Position bolt (38), circuit board, battery pack；
The middle part of lower plate (9) top surface is equipped with hollow circular bosses, and the lifting part (3) rotationally supports in the middle part of plate (27)
Open circles be mounted on the hollow circular bosses of lower plate (9), the decelerating motor of the lifting part (3) is mounted on by bracket
In hollow circular bosses, the front end two sides of the lower plate (9) are respectively fixed with front wheel supporting frame (32), described two front wheel supportings
Frame (32) is located at below lower plate (9), and is respectively equipped with axis, the lower plate at the top of two front wheel supporting framves (32)
(9) front end two sides are installed steering power steering engine (31) respectively, and two steering power steering engines (31) are located at two front-wheel branch
The top of support (32), the axis at the top of described two front wheel supporting framves (32) are each passed through lower plate (9) and steering power steering engine
(31) rotor connection, two front-wheel limit shafts (33) are each passed through front wheel supporting frame (32), and two front-wheel limit shafts
(33) it is installed respectively on front-wheel (34), the two sides of lower plate (9) the bottom rear end are respectively fixed with support frame (30), after described
The both ends of wheel limit shaft (37) are each passed through the support frame (30) of two sides, and rear-wheel is installed at the both ends of rear-wheel limit shaft (37) respectively
Speed regulating motor (36), described two rear-wheels (35) are separately mounted on the output shaft of rear-wheel speed regulating motor (36) at both ends, and point
Not Yong rear-wheel caging bolt (38) two rear-wheels (35) are fixed, the bottom of the lower plate (9) is equipped with circuit board, the circuit
Plate side is equipped with battery pack, and the battery pack is fixed by the bracket in lower plate (9) bottom, and the circuit board includes control system
System, described two steering power steering engines (31), two rear-wheel speed regulating motors (36) are connect by conducting wire with control system respectively.
6. intelligent tennis ball pitching robot according to claim 1, it is characterised in that: 4 fixation members (6) structure
Identical, each fixation member (6) includes rotating support (39), back support rod (40), support lever (41), front support rod
(42), stabilizer blade (43), front support telescopic rod (44), rear support telescopic rod (45), steering engine；
The rotating support (39) is mounted on the lower plate (9) of moving parts (5), and the rotating support (39) is under
Steering engine is equipped between bottom plate (9) bottom, the steering engine is connect with the top of rotating support (39), rear support telescopic rod (45)
One end is connect by axis with rotating support (39), and the other end of rear support telescopic rod (45) is connected by axis and support lever (41)
It connecing, the support lever (41) is connect by back support rod (40) with rotating support (39), and the one of the front support rod (42)
End is connect by axis with the front end of support lever (41), and the top of stabilizer blade (43) is connect with the other end of front support rod (42), branch
The bottom of foot (43) is rest on the ground, and one end of the front support telescopic rod (44) is connect by axis with support lever (41), preceding
The other end of support telescopic bar (44) is connect by axis with the other end of front support rod (42).
7. intelligent tennis ball pitching robot according to claim 1, it is characterised in that: rotation service component (1)
Two serving wheel speed regulating motors (13), imaging sensor (16), rotary power steering engine (19), release component (2) motor (49),
Speed regulating motor passes through conducting wire respectively and connect with the control system of moving parts (5), and the speed regulating motor of the release component (2) is also logical
Conducting wire is crossed to connect with the battery pack of moving parts (5), described two serving wheel speed regulating motors (13) also by conducting wire respectively with machine
The battery pack of dynamic component (5) connects, one or more telescopic supporting rod (28), two telescopic rods of the lifting part (3)
(65), decelerating motor is connect with the battery pack of moving parts (5) respectively, and one or more retractable support of lifting part (3)
Bar (28), two telescopic rods (65), decelerating motor pass through conducting wire respectively and connect with the control system of moving parts (5), and described 4
Front support telescopic rod (44), rear support telescopic rod (45), the steering engine of fixation member (6) pass through conducting wire and moving parts (5) respectively
Control system connection.
8. intelligent tennis ball pitching robot according to claim 1, it is characterised in that: tennis ball railings (7) bottom angled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821672440.1U CN209438009U (en) | 2018-10-16 | 2018-10-16 | A kind of intelligent tennis ball pitching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821672440.1U CN209438009U (en) | 2018-10-16 | 2018-10-16 | A kind of intelligent tennis ball pitching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209438009U true CN209438009U (en) | 2019-09-27 |
Family
ID=68010084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821672440.1U Expired - Fee Related CN209438009U (en) | 2018-10-16 | 2018-10-16 | A kind of intelligent tennis ball pitching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209438009U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116271765A (en) * | 2022-09-07 | 2023-06-23 | 彭峻 | Tennis training device |
-
2018
- 2018-10-16 CN CN201821672440.1U patent/CN209438009U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116271765A (en) * | 2022-09-07 | 2023-06-23 | 彭峻 | Tennis training device |
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