CN218900765U

CN218900765U - Multistage intelligent tennis service robot that accelerates

Info

Publication number: CN218900765U
Application number: CN202120992454.7U
Authority: CN
Inventors: 陆志骅
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-05-11
Filing date: 2021-05-11
Publication date: 2023-04-25
Anticipated expiration: 2031-05-11

Abstract

The utility model discloses a multistage acceleration intelligent tennis service robot, which comprises the following components: the device comprises a ball serving mechanism, a vertical rod, a roller screw, a moving mechanism, a motor module group, a base and lifting support legs; the ball serving mechanism, the vertical rod, the roller screw, the moving mechanism and the motor module group are all arranged on the base; the ball serving mechanism is movably connected with the vertical rod through a movable rotating pin, so that the ball serving mechanism can rotate relative to the movable rotating pin and can tilt and swing relative to the vertical rod, the bottom end corner of the ball serving mechanism is movably connected with the moving mechanism through a hinge, the moving mechanism is sleeved on the roller screw, and rotating threads matched with the roller screw are arranged inside the moving mechanism. The utility model has pulley legs and lifting support legs, so that the robot can be conveniently carried and can be fixed on the ground during serving; the human body detection module is provided, so that the speed is automatically reduced, and accidents are prevented; meanwhile, the elevation angle of the ball dispenser can be adjusted as required.

Description

Multistage intelligent tennis service robot that accelerates

[ field of technology ]

The utility model relates to the field of tennis equipment, in particular to a multistage acceleration intelligent tennis service robot.

[ background Art ]

In practice of tennis, tennis serving machines are often required, and general tennis serving machines are in a single-wheel or two-wheel mode,

in order to meet the demands of tennis hit training and tennis training markets, tennis service machines appear on the markets. Through tennis service robot, the user need not special person accompany the training, although can relapse, the acquisition batting training of multi-angle, but the scope of the ball launch angle of current tennis service robot is narrower, the launching height is limited, ball track change is few, and drop point position is single, the training degree of difficulty is low, can't obtain various tennis and hit the exercise, current service robot actual ball speed is slow simultaneously, the drop point is unstable, the function is too simple, only be fit for well, low level tennis fan, be not fit for high level tennis fan and professional athlete, can not satisfy different levels, different personnel's training demand, and intelligent level is lower, need manual regulation in the use, with the adjustment service mode.

There is a need to develop an intelligent tennis service robot to overcome the problems of the prior art, such as patent CN201320028665.4 discloses a service robot, but there are some problems with this solution.

For this purpose, we propose a multistage accelerating intelligent tennis service robot.

[ utility model ]

The utility model aims to overcome the defects in the prior art and provides a multistage acceleration intelligent tennis service robot.

In order to achieve the above purpose/solve the above technical problems, the present utility model is realized by adopting the following technical scheme: a multi-stage acceleration intelligent tennis service robot comprising: the device comprises a ball serving mechanism, a vertical rod, a roller screw, a moving mechanism, a motor module group, a base and lifting support legs;

the ball serving mechanism, the vertical rod, the roller screw, the moving mechanism and the motor module group are all arranged on the base;

the ball serving mechanism is movably connected with the upright rod through a movable rotating pin, so that the ball serving mechanism can rotate relative to the movable rotating pin and can obliquely swing relative to the upright rod, the bottom end corner of the ball serving mechanism is movably connected with the moving mechanism through a hinge, the moving mechanism is sleeved on the roller screw, a rotary thread matched with the roller screw is arranged in the moving mechanism, and the end part of the roller screw is in transmission connection with the motor module group;

the bottom of the base is also provided with lifting support legs for supporting and adjusting the height.

Optionally, the rotary table further comprises a rotary table and a rotary table base arranged at the bottom of the rotary table, wherein the rotary table can rotate relative to the rotary table base, and the rotary table base is fixedly connected with the base.

Optionally, the motor module comprises a rotary disc, a fixed seat, a motor module group, a connecting shaft and a connecting rod.

Optionally, the bottom of the base is also provided with pulley legs for supporting and moving, and the pulley legs are lower than the lifting legs in lifting state.

Optionally, the motor module group further comprises a motor, an electric control group and a power supply.

Optionally, the lifting support leg is a hydraulic adjusting lifting rod.

Optionally, a ball sensor is configured on the ball feeding track of the ball feeding mechanism, a gesture sensor is configured on the outer side of the ball feeding mechanism, an angular velocity sensor is also configured on the outer side of the ball feeding mechanism, and a human body detection module is arranged on the front face of the ball feeding mechanism.

Compared with the prior art, the utility model has the following beneficial effects: the ball serving machine has the advantages that the ball serving machine has high ball serving speed, and has the pulley legs and the lifting support legs, so that the ball serving machine can be conveniently carried and can be fixed on the ground during ball serving; the human body detection module is provided, so that the speed is automatically reduced, and accidents are prevented; meanwhile, the elevation angle of the ball dispenser can be adjusted according to the requirement, so that the structural configuration of the device is more stable, and the device is not easily influenced by the force of a backseat of a ball.

[ description of the drawings ]

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model.

Fig. 1 is a schematic diagram of the overall structure of a multi-stage accelerating intelligent tennis service robot according to the present utility model.

Fig. 2 is a second schematic diagram of the overall structure of a multi-stage accelerating intelligent tennis service robot according to the present utility model.

Fig. 3 is a schematic diagram of a structure of the multi-stage accelerating intelligent tennis ball serving machine according to the present utility model under the angle adjustment of the serving mechanism.

Fig. 4 is a second schematic view of a structure of the multi-stage accelerating intelligent tennis ball serving machine according to the present utility model under the angle adjustment of the serving mechanism.

Fig. 5 is a schematic view of a structure of a fixer of a multi-stage accelerating intelligent tennis service robot according to the present utility model.

Fig. 6 is a schematic structural view of another embodiment of a multi-stage accelerating intelligent tennis service robot according to the present utility model.

Fig. 7 is a schematic diagram of the outer structure of a service mechanism of the multi-stage accelerating intelligent tennis service robot.

In the figure: 1. a service mechanism; 2. a vertical rod; 3. a movable rotating pin; 4. a hinge; 5. a roller screw; 6. a moving mechanism; 7. a motor module group; 8. a fixing seat; 9. a turntable; 10. a turntable base; 11. a base; 12. pulley legs; 13. lifting the supporting leg; 14. detecting a ball sensor; 15. an angular velocity sensor; 16. and a posture sensor.

[ detailed description ] of the utility model

In order to make the technical means, the creation features, the achievement of the purposes and the effects of the present utility model easy to understand, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation.

In the description of the present utility model, it should be understood that the directional terms or positional relationships indicated are based on those shown in the drawings, and are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

A multi-stage acceleration intelligent tennis service robot comprising: the ball feeding mechanism 1, the upright rod 2, the roller screw 5, the moving mechanism 6, the motor module group 7, the base 11 and the lifting supporting leg 13;

the ball serving mechanism 1, the upright rod 2, the roller screw 5, the moving mechanism 6 and the motor module group 7 are all arranged on the base 11;

it should be noted that, referring to fig. 2 and 6, the number of the uprights 2 may be two as shown in fig. 2, and may be one as shown in fig. 6.

The ball serving mechanism 1 is movably connected with the vertical rod 2 through a movable rotary pin 3, so that the ball serving mechanism 1 can rotate relative to the movable rotary pin 3 and can tilt and swing relative to the vertical rod 2, the bottom end corner of the ball serving mechanism 1 is movably connected with the moving mechanism 6 through a hinge 4, the moving mechanism 6 is sleeved on the roller screw 5, a rotary thread matched with the roller screw 5 is arranged in the moving mechanism 6, and the end part of the roller screw 5 is in transmission connection with the motor module group 7;

the bottom of the base 11 is also provided with a lifting supporting leg 13 for supporting and adjusting the height.

In a further embodiment, the rotary table further comprises a rotary table 9 and a rotary table base 10 arranged at the bottom of the rotary table 9, wherein the rotary table 9 can rotate relative to the rotary table base 10, and the rotary table base 10 is fixedly connected with the base 11; the bottom of the turntable 9 is provided with turntable 9 devices, so that the turntable 9 can rotate at a certain angle.

The turntable 9 can rotate with the turntable base 10 by utilizing the existing rotating shaft, and meanwhile, the specific model of the rotating shaft is not described here.

In a further embodiment, the motor module further comprises a fixing seat 8, the bottom of the fixing seat 8 is fixedly connected with the turntable 9, and the top of the fixing seat 8 is movably connected with the motor module group 7 through a connecting shaft.

In a further embodiment, the bottom of the base 11 is further provided with a pulley leg 12 for supporting and moving, and the pulley leg 12 is lower than the lifting leg 13 in a lifting state;

the pulley leg 12 is utilized when the device equipment needs to be moved, in the using process, the lifting supporting leg 13 is retracted and falls back, after the lifting supporting leg 13 falls back to a certain range, the pulley leg 12 takes over the lifting supporting leg 13 to bear the whole device, and at the moment, the device can realize displacement of the device by utilizing the rolling of the pulley leg 12.

In a further embodiment, the motor module group 7 further comprises a motor, an electric control group and a power supply.

In a further embodiment, the lifting leg 13 is a hydraulically adjustable lifting lever;

in this embodiment, the lifting support 13 is a hydraulic lifting rod, and of course, the lifting support 13 may be another lifting rod capable of lifting, such as an electric push rod, under the condition of meeting the requirement.

In a further embodiment, a ball sensor 14 is disposed on the ball feeding track of the ball feeding mechanism 1, a gesture sensor 16 is disposed on the outer side of the ball feeding mechanism 1, an angular velocity sensor 15 is disposed on the outer side of the ball feeding mechanism 1, and a human body detection module is disposed on the front surface of the ball feeding mechanism 1;

when the ball serving mechanism 1 is used, when the angle of the ball serving mechanism 1 needs to be adjusted, the motor module group 7 is started, so that the motor module group 7 drives the roller screw 5 to rotate, the moving mechanism 6 sleeved on the motor module group is moved by the screw, and the ball serving mechanism 1 can be adjusted upwards or downwards along with the movement of the moving mechanism 6, and the ball serving mechanism can be particularly seen in fig. 3 and 4.

Since the present utility model is improved on the basis of the patent CN201320028665.4, some parts related to the patent CN201320028665.4 are not described in detail in this application:

the ball sensor 14 is detected, and when the ball passes through the ball feeding track, the ball feeding track is a trigger signal, so that the computer receives the information of the ball passing through, and further action instructions are given to the ball dispenser.

The attitude sensor 16 is installed at a certain position of the ball-serving mechanism 1, detects the current attitude of the ball-serving device, and controls the attitude of the ball-serving mechanism 1 in cooperation with a ball screw motor.

The human body detection module is arranged in front of the service robot base 11, and when a person in front is detected, the computer sends out a command to automatically lower the service robot below a certain speed, so that accidents are prevented;

the speed detection is arranged beside the friction wheel of the service mechanism 1 and is used for detecting the rotating speed of the service robot in real time. (in general, the computer controls the rotation speed of the friction wheel by adjusting the output of the motor, but cannot obtain accurate rotation speed, because the same rotation speed cannot be obtained by the same output due to the fact that the voltage is not necessarily constant and the difference between devices, and therefore, the real-time accurate speed adjustment is realized by adopting a new technology), the output of the motor is adjusted in real time by utilizing an artificial intelligence technology through the obtained current rotation speed of the ball dispenser, so that the required correct rotation speed is obtained;

the angular velocity of the friction wheel is obtained through the angular velocity sensor 15, the friction wheel is input into a computer, the computer takes the current angular velocity value and the target angular velocity as input, the motor output is obtained through the operation of a processing system, the error between the actual angular velocity and the target angular velocity is calculated to update the processing system parameters after the motor is output, and the processing system parameters are continuously updated through the process of continuously and repeatedly cycling, so that the computer can accurately control the rotating speed.

It should be noted that: here, the angular velocity may be used as a parameter, and the linear velocity may be used as a parameter.

Meanwhile, the computer in the above scheme is preset with the corresponding computer processing program.

The foregoing has shown and described the basic principles and main features of the present utility model and the advantages of the present utility model. It will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications may be made without departing from the spirit and scope of the utility model, which is defined in the appended claims. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. Multistage acceleration intelligent tennis service robot, characterized by, include: the device comprises a ball serving mechanism, a vertical rod, a roller screw, a moving mechanism, a motor module group, a base and lifting support legs;

2. The multi-stage accelerating intelligent tennis service robot according to claim 1, further comprising a turntable and a turntable base configured at the bottom of the turntable, wherein the turntable is rotatable relative to the turntable base, and the turntable base is fixedly connected with the base.

3. The multi-stage accelerating intelligent tennis service robot according to claim 2, further comprising a fixed seat, wherein the bottom of the fixed seat is fixedly connected with the turntable, and the top of the fixed seat is movably connected with the motor module group through a connecting shaft.

4. The multi-stage accelerating intelligent tennis service robot according to claim 1, wherein the base bottom is further provided with a pulley leg for supporting and moving, the pulley leg being lower than the elevation of the lifting leg in the lifted state.

5. The multi-level acceleration intelligent tennis service robot according to claim 1, wherein the motor module group further comprises a motor, an electrical control group, and a power source.

6. The multi-stage acceleration intelligent tennis service robot of claim 1, wherein the lifting legs are hydraulically adjustable lifting bars.

7. The multi-stage acceleration intelligent tennis service robot according to claim 1, wherein a ball sensor is disposed on a ball feeding track of the service mechanism, a gesture sensor is disposed on the outer side of the service mechanism, an angular velocity sensor is disposed on the outer side of the service mechanism, and a human body detection module is disposed on the front side of the service mechanism.