CN211705818U

CN211705818U - Tennis ball pickup device for tennis training

Info

Publication number: CN211705818U
Application number: CN201922300383.5U
Authority: CN
Inventors: 张威
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2020-10-20
Anticipated expiration: 2029-12-19

Abstract

The utility model discloses a tennis ball picking device for tennis training, belonging to the technical field of tennis sport, comprising a chassis structure consisting of a bottom plate and a cover body arranged above the bottom plate, wherein an installation accommodating space is formed between the bottom plate and the cover body; the left side above the chassis structure is provided with a collecting box, the right side is connected with a manipulator structure, the bottom of the chassis structure is provided with a pulley, the pulley comprises two chassis driving wheels on the left side and two universal wheels on the right side, and the front side and the rear side of the cover body are provided with ultrasonic sensors; the installation accommodation space is fixedly provided with a single chip microcomputer and a storage battery, the left side of the single chip microcomputer is fixedly provided with driving motors through screws, the two driving motors are respectively in transmission connection with chassis driving wheels on two sides, the single chip microcomputer and the storage battery are electrically connected with a mechanical arm structure and an ultrasonic sensor, the single chip microcomputer and the ultrasonic sensor are used for identification, the driving motors are controlled to drive the device to move to a tennis position, the mechanical arm drives the gripper to grip, automatic pickup is achieved, and the accuracy of gripping a tennis is improved.

Description

Tennis ball pickup device for tennis training

Technical Field

The utility model relates to a tennis technical field, more specifically relate to a tennis pickup apparatus.

Background

Tennis is a traditional sport in europe, and with the unification and communication of world cultures, tennis has been played worldwide, and more young people are put into tennis. In the process of tennis training, after each round of training is finished, a player needs to bend down to pick up the tennis balls scattered in the tennis court one by one and put the tennis balls back into the collecting basket for next round of training, so that a large amount of physical energy of the player is consumed, training time is wasted, and training efficiency is reduced.

And the existing ball picking device has low accuracy for catching balls, is inconvenient to move, cannot process the balls in time and influences the training of trainers.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved

To the problem that exists among the prior art, the utility model aims to provide a tennis pickup apparatus is used in tennis training discerns through singlechip, ultrasonic sensor, and control driving motor drives the device and removes the tennis position, drives the tongs through the arm and snatchs, has realized automatic picking, has saved the manual work, has improved the accuracy of grabbing the ball, convenient to use.

2. Technical scheme

In order to solve the above problems, the utility model adopts the following technical proposal.

A tennis ball picking device for tennis training comprises a base plate and a base plate structure formed by a cover body arranged above the base plate, wherein an installation accommodating space is formed between the base plate and the cover body; a collecting box with an opening at the upper side is welded on the left side above the chassis structure, a manipulator structure is connected on the right side in a sliding manner, a pulley is arranged at the bottom of the chassis structure and comprises two chassis driving wheels on the left side and two universal wheels on the right side, and ultrasonic sensors are arranged on the front side and the rear side of the cover body; the robot comprises a manipulator structure and an ultrasonic sensor, and is characterized in that a single chip microcomputer and a storage battery are fixedly arranged in the installation accommodating space, a driving motor is fixed on the left side of the single chip microcomputer through screws, the driving motors are respectively in transmission connection with chassis driving wheels on two sides, and the single chip microcomputer and the storage battery are electrically connected with the manipulator structure and the ultrasonic sensor.

Further, the manipulator structure comprises a mounting seat arranged on the top surface of the cover body and a mechanical arm arranged on the mounting seat, the mechanical arm comprises a fixed end fixed on the mounting seat, a first rotating arm hinged with one end of the fixed end, a second rotating arm hinged with the first rotating arm and a hand grip hinged with the second rotating arm, the first rotating arm and the second rotating arm are respectively connected with an angle adjusting motor and driven to rotate by the angle adjusting motor, the angle adjusting motor is electrically connected with the single chip microcomputer, the hand grip comprises a fixed seat hinged with one end of the second rotating arm, a first hydraulic cylinder is fixedly connected inside the fixed seat, the output end of the first hydraulic cylinder is fixedly connected with a first hydraulic rod, one end of the first hydraulic rod is fixedly connected with a connecting seat, and the surface of the connecting seat is movably connected with a movable rod through a first pin shaft, one end of the movable rod is movably connected with a grabbing part through a second pin shaft.

Further, the last fixed surface of mount pad is connected with the mounting panel, the spout has been seted up on the surface of mounting panel, the inside of spout is provided with the slide bar, the width of spout with the width looks adaptation of slide bar, the sliding surface of slide bar is connected with the slider, the bottom fixedly connected with second hydraulic stem of slider, the output of the one end fixed connection second hydraulic cylinder of second hydraulic stem, one side fixed connection arm of slider.

Furthermore, the first hydraulic cylinder and the second hydraulic cylinder are respectively driven by a servo motor, and the servo motor is electrically connected with the single chip microcomputer.

Furthermore, the outside cover of portion of snatching is equipped with anti-skidding gum cover, anti-skidding line has been seted up to anti-skidding gum cover inboard.

Furthermore, the bottom plate is square-like, four corners of the bottom plate are rounded corners, and the four rounded corners are connected through concave arc-shaped edges; the lid and the adaptation of class square bottom plate, the top surface of lid is the plane, be provided with the semicircle orifice on four angles in the bottom of lid respectively, install an 1/4 sphere shape's apron in every semicircle orifice department, every apron corresponds and a fillet cooperation installation, and the top at fillet is arranged in to the apron.

Furthermore, the inner wall of the collecting box is paved with a cushion pad, and the surface of the cushion pad at the bottom end is cemented with wavy lines.

3. Advantageous effects

Compared with the prior art, the utility model has the advantages of:

(1) the utility model discloses an ultrasonic sensor carries out ultrasonic detection to the position of tennis, discerns through the singlechip, and control driving motor drives and removes the tennis position, drives the tongs through the arm and snatchs, has realized automatic pickup, has saved the manual work, has improved the accuracy of grabbing the ball, convenient removal.

(2) The utility model discloses a blotter can prevent that tennis from popping out when falling into, can prevent through the raised grain that tennis arouses violent rocking when removing.

(3) The utility model discloses an antiskid silica gel cover can prevent to snatch the portion snatching the in-process, and the tennis drops, and anti-skidding line has further improved the non-skid property of antiskid silica gel cover.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

FIG. 2 is a schematic structural view of a mounting plate according to an embodiment of the present invention;

fig. 3 is a circuit diagram of a single chip microcomputer according to an embodiment of the present invention.

The reference numbers in the figures illustrate:

the device comprises a base plate 1, a cover body 2, a collecting box 3, a chassis driving wheel 4, a universal wheel 5, a single chip microcomputer 6, a storage battery 7, a driving motor 8, an ultrasonic sensor 9, a mounting seat 10, a fixed end 11, a first rotating arm 12, a second rotating arm 13, a fixed seat 14, a first hydraulic cylinder 15, a first hydraulic rod 16, a connecting seat 17, a movable rod 18, a grabbing part 19, a mounting plate 20, a sliding groove 21, a sliding rod 22, a sliding block 23, a second hydraulic rod 24 and a second hydraulic cylinder 25.

Detailed Description

The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention based on the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-3, a tennis ball picking device for tennis training comprises a base plate 1 and a cover body 2 arranged above the base plate 1, wherein an installation accommodating space is formed between the base plate 1 and the cover body 2, a single chip microcomputer 6 and a storage battery 7 are fixedly arranged in the installation accommodating space, and a driving motor 8 is fixedly arranged on the left side of the single chip microcomputer 6 through screws. The bottom plate 1 is square-like, four corners of the bottom plate 1 are rounded corners, and the four rounded corners are connected through concave arc-shaped edges; lid 2 and class square bottom plate 1 adaptation, the top surface of lid 2 are the plane, are provided with the semicircle orifice on four angles in the bottom of lid 2 respectively, install an 1/4 spherical shape's apron in every semicircle orifice department, every apron corresponds and a fillet cooperation installation, and the top at fillet is arranged in to the apron.

The bottom of chassis structure is provided with the pulley, and the pulley includes two chassis drive wheels 4 on left and two universal wheels 5 on right side, and both sides are equipped with ultrasonic sensor 9 around the lid 2. The chassis driving wheel 4 is connected with the driving motor 8 in a transmission way, and the ultrasonic sensor 9 is electrically connected with the singlechip 6.

A collecting box 3 with an opening at the upper side is welded at the left side above the chassis structure, a cushion is laid on the inner wall of the collecting box 3, and wavy grains are cemented on the surface of the cushion at the bottom end; the right side is connected with a manipulator structure in a sliding manner, and the manipulator structure comprises a mounting seat 10 arranged on the top surface of the cover body 2 and a mechanical arm arranged on the mounting seat 10; the upper surface of the mounting seat 10 is fixedly connected with a mounting plate 20, the surface of the mounting plate 20 is provided with a sliding chute 21, a sliding rod 22 is arranged inside the sliding chute 21, the width of the sliding chute 21 is matched with the width of the sliding rod 22, the surface of the sliding rod 22 is slidably connected with a sliding block 23, the bottom of the sliding block 23 is fixedly connected with a second hydraulic rod 24, one end of the second hydraulic rod 24 is fixedly connected with the output end of a second hydraulic cylinder 25, and one side of the sliding block 23 is fixedly connected with a mechanical arm; the mechanical arm comprises a fixed end 11 fixed on the mounting seat 10, a first rotating arm 12 hinged with one end of the fixed end 11, a second rotating arm 13 hinged with the first rotating arm 12, and a hand grip hinged with the second rotating arm 13, first rocking arm 12 and second rocking arm 13 respectively are connected with angle modulation motor, drive by angle modulation motor and rotate, angle modulation motor is connected with singlechip 6 electricity, the tongs includes with the articulated fixing base 14 of second rocking arm 13 one end, the first pneumatic cylinder 15 of the inside fixedly connected with of fixing base 14, the first hydraulic stem 16 of the output fixedly connected with of first pneumatic cylinder 15, the one end fixedly connected with connecting seat 17 of first hydraulic stem 16, there is movable rod 18 on the surface of connecting seat 17 through first round pin axle swing joint, there is grabbing portion 19 one end of movable rod 18 through second round pin axle swing joint, 19 outside covers of grabbing portion are equipped with anti-skidding gum cover, anti-skidding line has been seted up to anti-skidding gum cover inboard.

The first hydraulic cylinder 15 and the second hydraulic cylinder 25 are driven by servo motors respectively, and the servo motors are electrically connected with the single chip microcomputer 6.

The utility model discloses when using, carry out ultrasonic scanning through ultrasonic sensor 9 to the tennis place, and the high level pulse who will return sends singlechip 6, singlechip 6 handles the back, when detecting the tennis, control driving motor 5 operation is removed, the different rotational speeds of driving motor 5 that the removal process is through the adjustment both sides, control turning to of chassis drive wheel 4, drive arrangement removes tennis position department, singlechip 6 is through angle adjustment motor, servo motor's control drives the position of robotic arm to the tennis and aligns, put into collecting box 3 after grabbing the tennis, then remove the tennis position that next detected and collect.

The above description is only the preferred embodiment of the present invention; the scope of the present invention is not limited thereto. Any person skilled in the art should also be able to cover the technical scope of the present invention by replacing or changing the technical solution and the improvement concept of the present invention with equivalents and modifications within the technical scope of the present invention.

Claims

1. A tennis ball pickup apparatus for tennis training, characterized in that: the structure comprises a base plate structure consisting of a base plate (1) and a cover body (2) arranged above the base plate (1), wherein an installation accommodating space is formed between the base plate (1) and the cover body (2); a collecting box (3) with an opening at the upper side is welded on the left side above the chassis structure, a manipulator structure is connected on the right side in a sliding manner, pulleys are arranged at the bottom of the chassis structure and comprise two chassis driving wheels (4) on the left side and two universal wheels (5) on the right side, and ultrasonic sensors (9) are arranged on the front side and the rear side of the cover body (2); the installation accommodation space is fixedly provided with a single chip microcomputer (6) and a storage battery (7), the left side of the single chip microcomputer (6) is fixedly provided with a driving motor (8) through screws, the driving motor (8) is in transmission connection with the chassis driving wheels (4) on two sides respectively, and the single chip microcomputer (6) and the storage battery (7) are electrically connected with the manipulator structure and the ultrasonic sensor (9).

2. The tennis ball pick-up device for tennis training as recited in claim 1, wherein: the manipulator structure comprises a mounting seat (10) arranged on the top surface of the cover body (2) and a mechanical arm arranged on the mounting seat (10), the mechanical arm comprises a fixed end (11) fixed on the mounting seat (10), a first rotating arm (12) hinged with one end of the fixed end (11), a second rotating arm (13) hinged with the first rotating arm (12) and a gripper hinged with the second rotating arm (13), the first rotating arm (12) and the second rotating arm (13) are respectively connected with an angle adjusting motor, the first rotating arm and the second rotating arm are driven to rotate by the angle adjusting motor, the angle adjusting motor is electrically connected with a single chip microcomputer (6), the gripper comprises a fixed seat (14) hinged with one end of the second rotating arm (13), a first hydraulic cylinder (15) is fixedly connected inside the fixed seat (14), and a first hydraulic rod (16) is fixedly connected with the output end of the first hydraulic cylinder (15), one end of the first hydraulic rod (16) is fixedly connected with a connecting seat (17), the surface of the connecting seat (17) is movably connected with a movable rod (18) through a first pin shaft, and one end of the movable rod (18) is movably connected with a grabbing part (19) through a second pin shaft.

3. The tennis ball pick-up device for tennis training as recited in claim 2, wherein: the last fixed surface of mount pad (10) is connected with mounting panel (20), spout (21) have been seted up on the surface of mounting panel (20), the inside of spout (21) is provided with slide bar (22), the width of spout (21) with the width looks adaptation of slide bar (22), the sliding surface of slide bar (22) is connected with slider (23), the bottom fixedly connected with second hydraulic stem (24) of slider (23), the output of the one end fixed connection second hydraulic cylinder (25) of second hydraulic stem (24), one side fixed connection of slider (23) the arm.

4. A tennis ball pick-up device for tennis training as claimed in claim 2 or 3, wherein: the first hydraulic cylinder (15) and the second hydraulic cylinder (25) are driven by servo motors respectively, and the servo motors are electrically connected with the single chip microcomputer (6).

5. The tennis ball pick-up device for tennis training as recited in claim 2, wherein: the outer side of the grabbing part (19) is sleeved with an anti-slip rubber sleeve, and anti-slip lines are formed in the inner side of the anti-slip rubber sleeve.

6. The tennis ball pick-up device for tennis training as recited in claim 1, wherein: the bottom plate (1) is square-like, four corners of the bottom plate (1) are rounded corners, and the four rounded corners are connected through concave arc-shaped edges; lid (2) and class square bottom plate (1) adaptation, the top surface of lid (2) is the plane, be provided with the semicircle orifice on four angles in the bottom of lid (2) respectively, an 1/4 sphere shape's apron of every semicircle orifice department installation, every apron correspond and a fillet cooperation installation, and the top at the fillet is arranged in to the apron.

7. The tennis ball pick-up device for tennis training as recited in claim 1, wherein: the inner wall of the collecting box (3) is paved with a cushion pad, and the surface of the cushion pad at the bottom end is cemented with wavy lines.