CN214238267U

CN214238267U - Ball hitting robot

Info

Publication number: CN214238267U
Application number: CN202120145130.XU
Authority: CN
Inventors: 陈贺龄; 张丽光; 陈英俊
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2021-09-21
Anticipated expiration: 2031-01-19

Abstract

The utility model provides a batting robot, the robot includes: a base; the ball hitting mechanism is arranged above the base and comprises a racket, a flexible arm and a racket supporting frame, and the racket is connected to the racket supporting frame through the flexible arm; a controller assembly connected with the ball striking mechanism. The utility model provides a batting robot, batting mechanism are provided with flexible arm, can carry out the hitting of different forms, different speed to the ball and hit the beating to realize more nimble hitting the mode of beating, satisfy the different sparring demands of user, provide better sparring experience for the user.

Description

Ball hitting robot

Technical Field

The utility model relates to the technical field of robots, concretely relates to batting robot.

Background

At present, some ball hitting robots for ball games, such as badminton ball hitting robots, table tennis ball hitting robots, etc., are already on the market. However, the existing ball hitting robot has a single working mode and can only perform simple feedback on the hitting of the user. However, the traditional partner training mode cannot meet different requirements of users, and the partner training effect is not ideal.

SUMMERY OF THE UTILITY MODEL

To the problem among the prior art, the utility model aims to provide a batting robot, through set up the flexible arm in batting mechanism and connect the racket, realize the batting training of multiple different angles.

An embodiment of the utility model provides a batting robot, include:

a base;

the ball hitting mechanism is arranged above the base and comprises a racket, a flexible arm and a racket supporting frame, and the racket is connected to the racket supporting frame through the flexible arm;

a controller assembly connected with the ball striking mechanism.

In some embodiments, the paddle is connected to the flexible arm by a paddle connection, the paddle being removably connected to the paddle connection.

In some embodiments, the flexible arm is in turn secured to a racket support base, which is located on the upper surface of the base, via a flexible arm connection and the racket support frame;

the controller component comprises a central controller and a ball hitting controller, the central controller is arranged in the base, and the ball hitting controller is arranged in the racket supporting seat.

In some embodiments, at least two first driving ropes extending along the length direction of the flexible arm are arranged in the flexible arm, and the flexible arm connecting part is provided with pulleys corresponding to the first driving ropes one by one;

the first driving rope is wound on the pulley, one end of the first driving rope is connected above the flexible arm, the other end of the first driving rope penetrates through the racket supporting rod and then is connected to the racket supporting seat, a rope driving motor is arranged in the racket supporting seat, and the ball hitting controller drives the first driving rope to move through the rope driving motor.

In some embodiments, a universal joint device is disposed in the flexible arm, the universal joint device includes at least one connecting rod and two universal joint bases, the two universal joint bases are disposed at two ends of the flexible arm respectively, the two ends of the connecting rod are rotatably connected to the two universal joint bases respectively, the first driving rope is connected to the two universal joint bases, and the relative position relationship between the two universal joint bases is adjusted by driving the first driving rope to move, so that the flexible arm tilts to one side and/or the flexible arm rotates relative to the flexible arm connecting portion.

In some embodiments, the universal joint device further includes a second driving rope, a universal bearing and a transmission shaft, two ends of the transmission shaft are respectively connected to the two universal joint bases through the universal bearing, and one end of the transmission shaft is connected to the racket connecting portion, and the transmission shaft is driven to rotate by the second driving rope, so that the racket connecting portion drives the racket to rotate relative to the flexible arm.

In some embodiments, the bottom portion of the racket support frame is rotatably mounted to the racket support base.

In some embodiments, the racket support frame includes at least a front support bar, at least a rear support bar, and a support bar driving motor, wherein a top portion of the front support bar and a top portion of the rear support bar are connected to the flexible arms, a bottom portion of the front support bar and a bottom portion of the rear support bar are rotatably mounted on the racket support base, respectively, and the support bar driving motor is configured to drive the bottom portions of the front support bar and/or the rear support bar to rotate so as to swing the racket support frame back and forth.

In some embodiments, a camera is further disposed above the base, the camera being in communication with the controller assembly for transmitting the captured images into the controller assembly; and/or

The side or the upper surface of the base is also provided with a sensor, the sensor is used for detecting the position of a ball, and the sensor is communicated with the controller component so as to transmit detection data to the controller component.

In some embodiments, a walking mechanism is disposed at the bottom of the base, and the controller assembly is further configured to control the walking mechanism to move so as to move the ball striking robot to a designated position.

The utility model provides a batting robot has following advantage:

the utility model provides a batting robot, batting mechanism are provided with flexible arm, can carry out the hitting of different forms, different speed to the ball and hit the beating to realize more nimble hitting the mode of beating, satisfy the different sparring demands of user, provide better sparring experience for the user.

Drawings

Other features, objects and advantages of the invention will become more apparent from a reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.

Fig. 1 is a schematic structural view of a ball hitting robot according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a ball hitting robot according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a ball striking mechanism according to an embodiment of the present invention;

fig. 4 is a schematic view of the internal structure of a ball striking mechanism according to an embodiment of the present invention;

fig. 5 is a schematic view of a ball striking mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic view of a replacement racquet according to an embodiment of the present invention;

fig. 7 is a schematic view of a ball hitting robot according to an embodiment of the present invention applied to a training field;

fig. 8 is a schematic structural view of a ball striking mechanism of a ball striking robot according to another embodiment of the present invention;

fig. 9 is a schematic structural view of a support frame of a ball hitting robot according to another embodiment of the present invention, when swinging backward.

Reference numerals:

1 base 465 universal bearing

2 controller assembly 466 gear mechanism

21 central controller 47 flexible arm connection

22-hit ball controller 48 racket support frame

4 batting mechanism 481 front strut

41 racket 482 rear support rod

411 bat 483 support bar driving motor

412 racket rod 484 stabilizer

413 buckle 485 drive shaft

Upper connecting seat of 42 racket connecting part 486

43 flexible arm 487 lower connecting seat

44 first drive cable 488 cored slab

451 pulley 49 racket support

452 Cable drive motor 51 Camera

46 gimbal device 52 inductor

461 connecting rod 53 signal lamp

462 drive shaft 6 roller

463 universal joint base 9 badminton

464 second driving rope

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.

As shown in fig. 1 to 7, an embodiment of the present invention provides a ball hitting robot, including: a base 1; the ball hitting mechanism 4 is arranged above the base 1, the ball hitting mechanism 4 comprises a racket 41, a flexible arm 43 and a racket support frame 48, and the racket 41 is connected to the racket support frame 48 through the flexible arm 43; and the controller component 2 is connected with the ball striking mechanism 4.

Therefore, in this embodiment, the ball striking mechanism 4 is provided with the flexible arm 43, and under the control of the controller assembly 2, the flexible arm 43 of the ball striking mechanism 4 can drive the racket 41 to strike balls with different shapes and different speeds, so as to realize more flexible striking modes. Fig. 1 and 2 show the flexible arm 43 of the ball striking mechanism 4 in two different forms, respectively, fig. 1 shows the initial state of the flexible arm 43, and fig. 2 shows the state of the flexible arm 43 when the badminton shuttlecock 9 reaches the working height of the ball striking mechanism 4 and the racket 41 strikes.

In fig. 1 to 7, a ball hitting robot is described as an example of a badminton ball hitting robot. It should be understood that the present invention is not limited thereto, and in other alternative embodiments, the ball hitting robot may also be applied to other ball games, such as table tennis, etc., all falling within the protection scope of the present invention.

As shown in fig. 1, in this embodiment, the controller assembly 2 includes a central controller 21 and a ball striking controller 22, the central controller 21 is disposed in the base 1, the ball striking controller 22 is disposed below the ball striking mechanism 4, the ball striking controller 22 is connected to the central controller 21, the central controller 21 is configured to send a striking command to the ball striking controller 22, and the ball striking controller 22 is configured to control the ball striking mechanism to perform a striking motion according to the striking command.

As shown in fig. 1, in this embodiment, a camera 51 is further disposed above the base 1, and the camera 51 communicates with the controller assembly 2 to transmit the acquired image to the central controller 21 of the controller assembly 2. In another alternative embodiment, the camera 51 may be disposed at other positions of the ball striking robot, such as at the side, etc. In yet another alternative embodiment, the ball striking robot itself may not be provided with a camera 51, but an external camera may be provided in the training field, and the controller assembly 2 may communicate with the external camera through a communication module to acquire images captured by the external camera. The communication module can be a wireless communication module (such as WIFI, Bluetooth, 4G and the like) or a wired communication module.

In this embodiment, as shown in fig. 1, a sensor 52 is further disposed on or at the side of the base 1, the sensor 52 is used for detecting the position of the user hitting the incoming ball, and the sensor 52 communicates with the central controller 21 of the controller assembly 2 to transmit the detection data to the central controller 21 of the controller assembly 2. The sensor 52 may be a radar, camera, or the like sensor.

In this embodiment, as shown in fig. 1, a signal lamp 53 may be disposed on the base 1, and the signal lamp 53 may be used to indicate the working status of the ball hitting robot and also may be used to indicate the power status of the ball hitting robot, for example, a red light indicates that the electric quantity is too low, and a green light indicates that the electric quantity is sufficient. The signal lamp 53 may be disposed at other positions of the ball striking robot, such as a side surface of the base 1 or a striking mechanism. The ball striking robot may have a rechargeable battery in the base to power the various mechanisms and components of the ball striking robot. In other alternative embodiments, the ball hitting robot may not be provided with a power supply, but an external power supply is used, which all fall within the protection scope of the present invention.

In this embodiment, as shown in fig. 1, a walking mechanism is further disposed at the bottom of the base 1, and the controller assembly 2 is further configured to control the walking mechanism to move so as to move the ball hitting robot to a designated position. In this embodiment, the running mechanism includes one or more rollers 6, but the present invention is not limited thereto, and in other embodiments, the running mechanism may also adopt other types of mechanisms such as a track, etc., all falling within the scope of the present invention. The controller assembly 2 may control the movement of the walking mechanism such that the ball striking robot is moved to a position convenient for the user to practice with.

Fig. 3 to 6 show schematic views of the ball striking mechanism of the ball striking robot of the embodiment. In this embodiment, the racket 41 is connected to the flexible arm 43 through the racket connecting portion 42, and the racket 41 can be detachably connected to the racket connecting portion 42, so that the racket 41 can be replaced conveniently, and the ball hitting mechanism can be reused. As shown in fig. 6, the racket 41 includes a racket face 411 and a racket shaft 412, a snap 413 is provided under the racket shaft 412, the racket shaft 412 is inserted into the racket connection portion 42, and the snap 413 is engaged with the inside of the racket connection portion 42. In other alternative embodiments, the racket 41 may be connected to the racket connecting portion 42 through other structures, for example, the racket 41 may be hung on the top end of the flexible arm 43, which is within the protection scope of the present invention.

As shown in fig. 3, the flexible arm 43 is fixed to a racket support 49 via a flexible arm connecting portion 47 and the racket support 48, the racket support 49 is located on the upper surface of the base 1, and the striking controller 22 can be disposed in the racket support 49.

Fig. 4 and 5 show the internal structure of the ball striking mechanism in two different states, respectively. At least two first driving ropes 44 extending in the length direction of the flexible arm 43 are provided in the flexible arm 43, the first driving ropes 44 connect the upper portion of the flexible arm 43 and the flexible arm connecting portion 47, and the controller assembly 2 adjusts the posture of the flexible arm 43 by adjusting the length of the portion of the first driving ropes 44 between both ends of the flexible arm 43. The first drive cable 44 may be disposed on both sides of the flexible arm 43 to effect a two-dimensional side-to-side oscillation that drives the flexible arm 43. The first drive cable 44 may be provided in more than two pieces, each of which is provided at a different position in the flexible arm 43, and the flexible arm 43 may be pulled to achieve a more varied inclination angle.

As shown in fig. 4, the flexible arm connecting portion 47 is provided with pulleys 451 corresponding to the first driving ropes 44 one by one, the first driving ropes 44 are wound on the pulleys 451, one end of the first driving rope 44 is connected above the flexible arm 43, the other end of the first driving rope 44 passes through the racket support frame 48 and then is connected to the racket support base 49, a rope driving motor 452 is provided in the racket support base, and the controller assembly 2 drives the first driving rope 44 to move through the rope driving motor 452, so as to adjust the length of the portion of the first driving rope 44 between the two ends of the flexible arm 43. The cord drive motor 452 may further be coupled to the first drive cord 44 through a reduction mechanism, which may include at least two gears, through which the cord drive motor 452 and the reduction mechanism adjust the tension or release of the first drive cord 44.

As shown in fig. 4 and 5, a universal joint device 46 is further disposed in the flexible arm 43, and the universal joint device 46 includes at least one connecting rod 461 and two universal joint bases 463, and the two universal joint bases 463 are respectively mounted at two ends of the flexible arm 43. The two ends of the connecting rod 461 are rotatably connected to the two universal joint bases 463, respectively, the first driving rope 44 is connected to the two universal joint bases 463, and the rope driving motor 452 drives the first driving rope 44 to move, so as to adjust the relative position relationship between the two universal joint bases 463, so that the flexible arm 43 can tilt to one side, thereby realizing the tilting swing of the flexible arm 43. In this embodiment, there are three connecting rods 461, which together form a three-connecting-rod parallel structure, but the present invention is not limited thereto, and the number and arrangement of the connecting rods 461 can be adjusted as required. The flexible arm 43 can be tilted forward or backward, and the flexible arm 43 can be tilted left or right, or can be tilted in other directions by modification, by means of the gimbal device 46. Thus, the gimbal device 46 can tilt the flexible arm 43 to one side, and the gimbal device 46 can flexibly adjust the tilt angle of the flexible arm 43, and can control the driving method of the rope driving motor 452 to drive the movement of different ropes, thereby also realizing the three-dimensional rotation of the flexible arm 43 with respect to the flexible arm connecting portion 47. The ropes in this embodiment may be steel wire ropes or other types of ropes having a relatively high strength. The housing of the flexible arm 43 is preferably made of a flexible material, such as silicone, rubber, a flexible plastic, etc.

As shown in fig. 4 and 5, the universal joint device 46 further includes a universal bearing 465, a transmission shaft 462, and a second driving rope 464, wherein the second driving rope 464 is used for driving the transmission shaft 462 of the universal joint device 46. Both ends of the shaft 462 are rotatably connected to the base 463 by the universal bearings 465, respectively, and the upper end of the shaft 462 is connected to the racket connecting portion 42. The second driving rope 464 is connected to the transmission shaft 462 through a gear mechanism 466, and the second driving rope 464 is connected to the rope driving motor 452 of the racket supporting seat 49, the controller assembly 2 controls the second driving rope 464 to move through the rope driving motor 452, and the movement of the second driving rope 464 is converted into the rotation movement of the transmission shaft 462 through the gear mechanism 466, that is, the second driving rope 464 can drive the transmission shaft 462 to rotate, so as to drive the racket connecting portion 42 to rotate, and further drive the racket 41 to rotate through the racket connecting portion 42, and the three-dimensional posture adjustment of the racket 41 can be realized through the combination with the first driving rope 44. The cable drive motor 452 may be coupled to a reduction mechanism, which may include at least two gears, through which the cable drive motor 452 and the reduction mechanism adjust the tension or release of the second drive cable 464.

Figures 4 and 5 show only one alternative flexible arm configuration. In other alternative embodiments, the flexible arm may be implemented by other structures, which are all within the scope of the present invention. For example, in one embodiment, the flexible arm may be a pneumatic flexible robotic arm, combining a plurality of pneumatic bellows segments and a rotational drive to form a multi-degree of freedom flexible robotic arm. In another embodiment, the flexible arm may be a flexible mechanical arm driven by a shape memory alloy spring, or a combined structure of a plurality of flexible arm segments connected in a rotatable and deflectable manner, which falls within the protection scope of the present invention.

As shown in fig. 7, the batting robot of the present invention is installed in a badminton training field J100. The batting robot J400 is arranged on one side of the field J100, the user J300 is arranged on the other side of the field J100, and when the user J300 batts the badminton J500, the batting robot J400 can timely make batting response. Cameras J200 and radars J600 can be further arranged around the field J100 and are used for collecting motion data of users and motion tracks of balls. The controller component of the ball striking robot J400 may acquire collected data of the camera J200 and the radar J600. When the ball hitting robot J400 has a traveling mechanism, it can freely move in the field J100 as needed.

As shown in fig. 8 and 9, a schematic structural view of a ball striking mechanism 4 of a ball striking robot according to another embodiment of the present invention is shown. This embodiment differs from the embodiment shown in fig. 1 to 7 in that: in the embodiment shown in fig. 1-7, the racquet support frame 48 includes a support rod that fixedly mounts the flexible arm 43 to the racquet support base 49. In the embodiment shown in fig. 8 and 9, the bottom of the racquet support frame 48 is rotatably mounted to the racquet support base. As shown in fig. 8, in this embodiment, the racket support frame 48 includes a front support bar 481, two rear support bars 482, an upper coupling seat 486, a lower coupling seat 487, and a support bar driving motor 483. The front brace 481 and the two rear braces 482 form a stable triangular support structure. In other embodiments, the number of the front supporting rods 481 and the number of the rear supporting rods 482 can be changed as required, for example, two front supporting rods 481 and two rear supporting rods 482 are provided, or one front supporting rod 481 and one rear supporting rod 482 are provided, which is within the scope of the present invention. The front support bar 481 is a telescopic bar and/or the rear support bar 482 is a telescopic bar to better accommodate changes in the fit during rotation.

The top of the front support 481 and the top of the rear support 482 are each connected to the flexible arm 43 by the upper connection base 486. The bottom of the front supporting bar 481 and the bottom of the rear supporting bar 482 are rotatably mounted on the lower connection seats 487, respectively, and the lower connection seats 487 are disposed on the racket support base 49. The lower connecting link 487 may comprise a rectangular frame structure, and the bottom of the front supporting bar 481 is rotatably fixed to the front portion of the frame structure by a structure similar to a finger grip, and the bottom of the rear supporting bar 482 is rotatably fixed to the rear portion of the frame structure by a structure similar to a finger grip. In other embodiments, other rotatable connection structures may be adopted, for example, the bottom of the front support bar 481 and the bottom of the rear support bar 482 may be respectively mounted on the lower connection seat 487 through a rotation shaft. The rotary shaft may be embedded in the racket support base 49, or may be supported by a rotary shaft on the surface of the racket support base 49.

In this embodiment, a hollow plate 488 is further disposed between the two support rods 482, the hollow plate 488 has the first driving rope 44 and the second driving rope 464 passing therethrough, the first driving rope 44 and the second driving rope 464 pass through the hollow plate 488 and then are connected to a rope driving motor in the racket support base 49, and the rope driving motor drives the first driving rope 44 and the second driving rope 464 to drive the flexible arm 43 to tilt and rotate and/or drive the racket connecting portion 42 to rotate. In other embodiments, the first driving rope 44 and the second driving rope 464 may also pass through other positions of the racket support frame 48, not limited to the hollow plate 488, for example, pass through the center of the racket support frame 48, and the like, which fall within the protection scope of the present invention.

As shown in fig. 8 and 9, the support bar driving motor 483 is provided to the lower coupling seat 487 and serves to drive the bottom of the front support bar 481 and/or the bottom of the rear support bar 482 to rotate by a driving shaft 485, so that the racket support frame 48 swings back and forth. In this embodiment, a stabilizer 484 is further connected to the upper connecting base 486 for stabilizing the bottom of the front support 481 and/or the bottom of the rear support 482 in terms of rotational movement. The stabilizer 484 may be angled forward when the racket support 48 is tilted rearward, and the stabilizer 484 may be angled rearward when the racket support 48 is tilted forward. In this embodiment, the racket support frame 48 may swing backward 0-90 with respect to the initial state of fig. 8 to provide a more flexible striking posture to the racket 41. In other embodiments, the racket support 48 may also swing forward 0-90 ° relative to the initial state of fig. 8, which all fall within the scope of the present invention.

In one embodiment, the ball striking mechanism 4 is provided with a support rod driving motor 483 for driving the bottom of the front support rod 481 to rotate with respect to the lower connecting seat 487. When the front support bar 481 rotates, the bottom of the rear support bar 482 is driven to rotate. That is, in this embodiment, the front support 481 is actively rotated, and the rear support 482 is passively rotated. In another embodiment, the ball striking mechanism 4 is provided with two support rod driving motors 483 for respectively driving the bottoms of the two rear support rods 482 to rotate with respect to the lower connecting seats 487. When the rear support stick 482 rotates, the bottom of the front support stick 481 is driven to rotate. That is, in this embodiment, the front support 481 is passively rotated, and the rear support 482 is actively rotated. In another embodiment, the ball striking mechanism 4 is provided with three support rod driving motors 483 for respectively driving the bottoms of the front support rods 481 and the two rear support rods 482 to rotate with respect to the lower link 487.

In another alternative embodiment, the support rod driving motor 483 may adjust the shape of the racket support frame 48 by driving the front support rod 481 in a manner of varying the length thereof. For example, in the state of fig. 8, the racket support frame 48 is swung backward by driving the front support bar 481 to be elongated in length, and the state of fig. 9 is reached. In the state of fig. 9, the racket frame 48 is swung forward by driving the front support bar 481 to be shortened in length, returning to the state of fig. 8. The telescopic structure of the front support bar 481 may be implemented by a screw structure.

The utility model provides a batting robot has following advantage:

The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.

Claims

1. A ball striking robot, comprising:

a base;

a controller assembly connected with the ball striking mechanism.

2. The ball striking robot of claim 1, wherein the paddle is connected to the flexible arm by a paddle connection, the paddle being removably connected to the paddle connection.

3. The ball striking robot of claim 2, wherein said flexible arm is secured to a racket support base on an upper surface of said base in sequence by a flexible arm attachment portion and said racket support frame;

4. The ball striking robot of claim 3, wherein the flexible arm has at least two first drive cables extending along a length of the flexible arm, and the flexible arm connecting portion has pulleys corresponding to the first drive cables one to one;

first drive rope is around locating on the pulley, the one end of first drive rope connect in the top of flexible arm, the other end of first drive rope passes behind the racket support frame connect in the racket supporting seat, be provided with rope driving motor in the racket supporting seat, hit the ball controller and pass through rope driving motor drive first drive rope motion.

5. The ball hitting robot according to claim 4, wherein a gimbal mechanism is provided in the flexible arm, the gimbal mechanism includes at least one link and two gimbal bases, the two gimbal bases are provided at both ends of the flexible arm, the two ends of the link are rotatably connected to the two gimbal bases, the first driving rope is connected to the two gimbal bases, and the relative positional relationship between the two gimbal bases is adjusted by driving the first driving rope to move, so that the flexible arm is tilted to one side and/or the flexible arm rotates relative to the flexible arm connecting portion.

6. The ball striking robot of claim 5, wherein the gimbal arrangement further comprises a second drive cable, a gimbal bearing, and a drive shaft, both ends of the drive shaft being connected to the two gimbal bases via the gimbal bearings, respectively, and one end of the drive shaft being connected to the racket connecting portion, the drive shaft being rotated by the second drive cable to effect rotation of the racket connecting portion with respect to the flexible arm.

7. The ball striking robot of claim 3, wherein a bottom portion of the racket support frame is rotatably mounted to the racket support base.

8. The ball striking robot of claim 7, wherein the racket support frame includes at least a front support bar, at least a rear support bar, and a support bar drive motor, wherein a top portion of the front support bar and a top portion of the rear support bar are each connected to the flexible arm, wherein a bottom portion of the front support bar and a bottom portion of the rear support bar are each rotatably mounted to the racket support base, and wherein the support bar drive motor is configured to rotate the bottom portions of the front support bar and/or the rear support bar to swing the racket support frame back and forth.

9. The ball striking robot of claim 1, wherein a camera is further disposed above the base, the camera being in communication with the controller assembly to transmit captured images into the controller assembly; and/or

10. The ball striking robot of claim 1, wherein a walking mechanism is disposed at a bottom of the base, and the controller assembly is further configured to control movement of the walking mechanism to move the ball striking robot to a desired position.