Badminton serving training device

Abstract

The invention discloses a badminton serving training device which comprises a supporting seat, and the supporting seat is further provided with an adjusting mechanism used for controlling horizontal serving and longitudinal angle adjustment. The adjusting mechanism comprises a first servo motor and a second servo motor, a driving shaft of the first servo motor is further provided with a ball disc carrying frame and a ball hitting support which are vertically arranged, the ball disc carrying frame is further provided with a ball disc driving motor, and an output shaft of the ball disc driving motor is provided with a ball disc structure; a shuttlecock loading support is further arranged on the shuttlecock disc carrying frame, and a shuttlecock loading mechanism used for singly loading shuttlecocks in the shuttlecock barrel into the shuttlecock disc structure is further arranged on the shuttlecock loading support; according to the badminton ball hitting device, the ball containing precision and efficiency of badminton balls in the ball barrel are improved, the variability of a ball path and a falling point is improved, meanwhile, the ball hitting force and speed can be accurately and rapidly controlled, and the training effect is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of training equipment, and particularly relates to a badminton serving training device. Background Art

[0002] With the development of the economy, badminton has become increasingly popular among the public worldwide. It is a sport with a very high popularity and participation rate. Therefore, the popularity of professional and systematic badminton training has increased accordingly. As an important auxiliary training tool, the badminton serving machine has been quite popular in recent years and has made remarkable progress in technology. The badminton serving machine can replace the coach to complete the serving task, which not only improves the training efficiency and diversity but also provides an efficient and convenient training platform for athletes, helping them make significant progress in technology and physical fitness.

[0003] As disclosed in the invention with the authorization announcement number CN111013113B, an automatic badminton serving machine includes a serving module and a control module. The serving module includes a serving component, a support frame, and an automatic ball feeding component connected in sequence. The automatic ball feeding component is connected with a horizontal steering component and a pitching and lifting component. The automatic ball feeding component includes 2 pairs of tension members arranged up and down and connected to a servo motor. The pitching and lifting component includes a launching bottom plate and a lifting helical gear. The lifting helical gear is vertically installed on a lifting bracket on the box body through an eccentric shaft connected to a stepping motor. The serving component, the planetary gear reduction component, and the launching bottom plate are connected in sequence. One end of the launching bottom plate is hinged to a hinge support, and the other end is connected to the eccentric shaft. This technical solution can adjust the pitching angle of the serving, but the above solution cannot automatically and singly convey the badminton in the ball bucket to the ball tray, the ball feeding accuracy is not good, which affects the serving effect. At the same time, it cannot accurately control the serving force, and cannot adjust the three-way angles of the serving. The serving trajectory and landing point are single, and the overall training effect is not good. For this reason, we propose a badminton serving training device. Summary of the Invention

[0004] The purpose of the present invention is to provide a badminton serving training device to solve the problems in the above background art that the existing technology cannot automatically and singly convey the badminton in the ball bucket to the ball tray, the ball feeding accuracy is not good, which affects the serving effect. At the same time, it cannot accurately control the serving force, and cannot adjust the three-way angles of the serving. The serving trajectory and landing point are single, and the overall training effect is not good.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A badminton serving training device includes a support base, and an adjustment mechanism for controlling the horizontal and longitudinal angle adjustment of the serving is further provided on the support base;

[0006] The adjustment mechanism includes a first servo motor and a second servo motor. A ball loading mechanism carrier and a hitting support arranged vertically are further provided on the driving shaft of the first servo motor. A ball tray driving motor is further provided on the ball loading mechanism carrier. A ball tray structure is provided on the output shaft of the ball tray driving motor. A ball tray support is further provided on the ball loading mechanism carrier. A ball loading mechanism for singly loading the badminton in the ball bucket into the ball tray structure is further provided on the ball tray support.

[0007] Wherein, a hitting mechanism for precisely controlling the hitting force is further provided on the hitting support.

[0008] Preferably, the first servo motor is arranged in an installation box. The installation box is arranged on a support plate. The support plate is arranged at one end of the driving shaft of the second servo motor. The second servo motor is arranged on a support seat, and can adjust the horizontal angle of the ball path.

[0009] Preferably, the ball loading mechanism includes a ball bucket support. The ball bucket support is arranged at the end of the ball tray support. A ball bucket bayonet is further provided on the ball bucket support. A slide rail is further provided on the ball loading mechanism carrier. A linear motor is further provided on the slide rail. An installation frame is provided on the linear motor. A sphere clamping assembly is provided on the installation frame, which can fix the ball bucket, and at the same time can clamp and fix a single badminton in the ball bucket and convey it into the ball tray structure.

[0010] Preferably, the sphere clamping assembly includes an electric cylinder. The electric cylinder is arranged in the installation frame. A lower movable frame is provided on the piston rod of the electric cylinder. The lower movable frame is movably arranged in an adjustment opening. The adjustment opening is arranged on one side of the installation frame. An upright frame is further provided at the top of the installation frame. A fixed frame is provided on the upright frame. Clamping head structures are symmetrically arranged on both sides of the lower movable frame and the fixed frame, and can synchronously control the opening and closing movements of the two groups of clamping head structures.

[0011] Preferably, the clamping head structure includes a lower connecting rod and an upper connecting rod. The lower connecting rod is rotatably connected to the lower movable frame. The other end of the lower connecting rod is rotatably connected to the upper connecting rod. The other end of the upper connecting rod is connected to a bearing shaft. The bearing shaft is rotatably arranged on one side of the fixed frame. An adapter frame is provided on one side of the bearing shaft. An arc-shaped clamping plate is provided on the adapter frame, which can clamp and fix the end of the badminton.

[0012] Preferably, a first pressure sensor is provided on the inner arc surface of the arc-shaped clamping plate. The first pressure sensor is connected to a central control module. The central control module is arranged on the support seat. By detecting the clamping force, the completion of the clamping work can be detected. The central control module is also connected to a linear grating and a linear motor. The linear grating is used to precisely control the ironless linear motor to drive the electric cylinder and the fixture to move to the ball loading position along a preset track within 1.5 seconds.

[0013] Preferably, the ball tray structure includes a central disk, spoke-shaped supports, an outer ring, and a ball serving position. The central disk, spoke-shaped supports, outer ring, and ball serving position are all rigidly connected. The ball serving position consists of three support rods with ball holders at the top. The ball holders are set at an inclined angle matching the wool circle. The position at half of the total length of the installed badminton coincides with the center position of the ball holder, which can ensure that there is enough space for the ball head for the hitting device to strike.

[0014] Preferably, the hitting mechanism is composed of a hitting racket face, a permanent magnet, a hitting track, a starting coil, a reset coil, a second pressure sensor, and a DC power supply. The hitting track is arranged on the hitting support. The permanent magnet is movably arranged in the hitting track. The starting coil is arranged on one side of the hitting track. The reset coil is arranged on the inner side of the hitting track. The DC power supply is arranged in the hitting track. A second pressure sensor is also arranged at one end of the starting coil. The permanent magnet is connected to the hitting racket face through a net support. The hitting racket face and the ball tray structure are horizontally arranged. The net support is movably arranged in the guiding opening. The guiding opening is arranged on the outer surface of the hitting track. Through the electromagnetic ejection principle, the reciprocating movement of the hitting racket face is realized, and then the hitting action is completed. At the same time, the hitting force can be accurately controlled.

[0015] Preferably, three groups of the net supports are provided. The three groups of net supports are arranged in an annular and equidistant manner on the hitting racket face, and all three groups of net supports are connected to the permanent magnet, which improves the force uniformity of the hitting racket face.

[0016] Preferably, the output end of the second pressure sensor is connected to the input end of the central control module. The central control module completes the hitting action by controlling the opening and closing of the starting coil and the reset coil through a time relay.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] (1) This application can fix the ball tube and at the same time sequentially convey the badminton in the ball tube into the ball tray structure. The multi-group badminton is positioned through the ball tray structure, greatly improving the loading accuracy and efficiency of the badminton in the ball tube.

[0019] (2) This application can adjust the horizontal angle, longitudinal pitch angle, and the rotation angle of the ball tray structure, greatly improving the variability of the ball path and the landing point, and further improving the training effect.

[0020] (3) Through the electromagnetic ejection principle, this application can accurately and quickly control the hitting force and speed, and then quickly adjust the landing point and the ball path, improving the hitting accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a schematic structural diagram of the ball loading mechanism in the present invention;

[0023] Figure 3 It is a schematic structural diagram of the sphere clamping assembly in the present invention;

[0024] Figure 4 It is a schematic structural diagram of the chuck structure in the present invention;

[0025] Figure 5 It is a schematic structural diagram of the ball tray structure in the present invention;

[0026] Figure 6 It is a schematic semi-sectional structural diagram of the hitting mechanism in the present invention;

[0027] Figure 7 It is a schematic structural diagram of the hitting racket face in the present invention;

[0028] Figure 8 It is a schematic circuit diagram of the switching circuit of the hitting mechanism in the present invention;

[0029] Figure 9 It is a schematic structural diagram of the adjustment mechanism in the present invention;

[0030] In the figure: 1. Ball loading mechanism; 2. Ball tray carrier; 3. Ball tray structure; 4. Ball tray driving motor; 5. Hitting mechanism; 6. Hitting support; 7. Central control module; 8. Support seat; 9. Adjustment mechanism; 10. Ball loading support; 31. Outer ring; 32. Spoke-shaped support rod; 33. Serving position; 34. Central disk; 91. Installation box; 92. First servo motor; 93. Support disk; 94. Second servo motor; 95. Positioning sleeve; 96. Annular guide groove; 97. Auxiliary support frame; 101. Ball bucket support; 102. Ball bucket bayonet; 103. Fixed knob; 104. Slide rail; 105. Linear motor; 106. Linear grating; 107. Mounting frame; 108. Electric cylinder; 109. Adjusting port; 110. Lower movable frame; 111. Upright frame; 112. Fixed frame; 113. Lower connecting rod; 114. Upper connecting rod; 115. Connecting frame; 116. First pressure sensor; 117. Arc-shaped clamping plate; 118. Bearing shaft; 501. Hitting racket face; 502. Ball net support; 503. Guide port; 504. DC power supply; 505. Reset coil; 506. Second pressure sensor; 507. Hitting track; 508. Permanent magnet; 509. Starting coil. Detailed implementation manners

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] Please refer to Figure 1 and Figure 9 , the present invention provides a technical solution: a badminton serving training device, which is composed of a support base 8, an adjustment mechanism 9, a ball loading mechanism 1, and a hitting mechanism 5;

[0033] The adjustment mechanism 9 includes a first servo motor 92 and a second servo motor 94. A ball loading mechanism carrier 2 and a hitting support 6 arranged vertically are further provided on the drive shaft of the first servo motor 92. A ball tray drive motor 4 is also provided on the ball loading mechanism carrier 2. A ball tray structure 3 is provided on the output shaft of the ball tray drive motor 4. In the startup state, when the second pressure sensor 506 outputs a positive pressure, the central control module 7 controls the ball tray drive motor 4 to start driving the ball tray to rotate. The output shaft of the ball tray drive motor 4 is connected to the central disk 34. With the center of the central disk 34 as the axis, the entire ball tray is driven by the servo motor to achieve high-precision rotation. The rotation speed is 3.75 RPM (equivalent to rotating 22.5° per second, and the rotation accuracy can reach 0.1°). It stops rotating every 45° of rotation and sends a stop signal to the central control unit, and waits for the next rotation instruction (in the startup state of the device, when the second pressure sensor 506 outputs a positive pressure, the ball tray starts to rotate). A ball tray support 10 is also provided on the ball loading mechanism carrier 2. A ball loading mechanism 1 for singly loading the badminton in the ball bucket into the ball tray structure 3 is also provided on the ball tray support 10. The first servo motor 92 is arranged in the installation box 91. The installation box 91 is arranged on the support disk 93. The support disk 93 is arranged at one end of the drive shaft of the second servo motor 94. The second servo motor 94 is arranged on the support base 8. In the startup state, when the second pressure sensor 506 outputs a positive pressure, the first servo motor 92 and the second servo motor 94 can respectively drive the entire ball tray structure 3 to rotate in the vertical and horizontal directions according to the instructions of the central control unit, and the rotation accuracy can reach 0.1.

[0034] Furthermore, an auxiliary support frame 97 is also provided at the bottom of the support disk 93. The end of the auxiliary support frame 97 is slidably arranged in the annular guide groove 96. The annular guide groove 96 is arranged on one side surface of the positioning sleeve 95. The positioning sleeve 95 is arranged on the support base 8. When the support disk 93 rotates, the support disk 93 drives the auxiliary support frame 97 to rotate in the annular guide groove 96, improving the stability of the support disk 93 during rotation.

[0035] Please refer to Figures 2 - 4, the ball loading mechanism 1 includes a ball bucket support 101, the ball bucket support 101 is arranged at the end of the ball loading support 10, and a ball bucket bayonet 102 is also arranged on the ball bucket support 101. A fixing knob 103 is arranged on one side of the ball bucket support 101 for fixing the ball bucket in the ball bucket bayonet 102. A slide rail 104 is also arranged on the ball loading mechanism carrier 2, a linear motor 105 is arranged on the slide rail 104, an installation frame 107 is arranged on the linear motor 105, and a sphere clamping assembly is arranged on the installation frame 107, which can fix the ball bucket, and at the same time can clamp and fix a single badminton in the ball bucket and convey it into the ball tray structure 3.

[0036] Specifically, the sphere clamping assembly includes an electric cylinder 108, the electric cylinder 108 is arranged in the installation frame 107, a lower movable frame 110 is arranged on the piston rod of the electric cylinder 108, the lower movable frame 110 is movably arranged in an adjustment port 109, the adjustment port 109 is arranged on one side of the installation frame 107, an upright frame 111 is also arranged on the top of the installation frame 107, a fixed frame 112 is arranged on the upright frame 111, and chuck structures are symmetrically arranged on both sides of the lower movable frame 110 and the fixed frame 112, which can synchronously control the opening and closing movements of the two groups of chuck structures.

[0037] Specifically, the chuck structure includes a lower connecting rod 113 and an upper connecting rod 114. The lower connecting rod 113 is rotatably connected to the lower movable frame 110, the other end of the lower connecting rod 113 is rotatably connected to the upper connecting rod 114, the other end of the upper connecting rod 114 is connected to a bearing shaft 118, the bearing shaft 118 is rotatably arranged on one side of the fixed frame 112, a connecting frame 115 is arranged on one side of the bearing shaft 118, and an arc-shaped clamping plate 117 is arranged on the connecting frame 115, which can clamp and fix the end of the badminton.

[0038] Furthermore, a first pressure sensor 116 is arranged on the inner arc surface of the arc-shaped clamping plate 117, the first pressure sensor 116 is connected to the central control module 7, the central control module 7 is arranged on the support seat 8. Through the detection of the clamping force, the completion of the clamping work can be detected, and the central control module 7 is also connected to the linear grating 106 and the linear motor 105. Through the linear grating 106, the ironless linear motor 105 is accurately controlled to drive the electric cylinder 108 and the fixture to move to the ball loading position along the preset track within 1.5 seconds.

[0039] The ball loading principle is as follows:

[0040] When the second pressure sensor 506 outputs a positive pressure and there is a signal indicating that the ball tray has stopped rotating, the badminton loading operation is performed. The central control module 7 triggers the telescopic movement of the electric cylinder 108. The telescopic movement of the electric cylinder 108 drives the longitudinal movement of the lower movable frame 110. The movement of the lower movable frame 110 drives the rotation of the lower connecting rod 113 and the upper connecting rod 114. The rotation of the upper connecting rod 114 drives the rotation of the bearing shaft 118. The rotation of the bearing shaft 118 drives the rotation of the connecting frame 115. The rotation of the connecting frame 115 drives the rotation of the arc-shaped clamping plate 117. The badminton is precisely clamped by the opposite rotation of the two groups of arc-shaped clamping plates 117. When the first pressure sensor 116 inside the arc-shaped clamping plate 117 obtains pressure data, it represents that the clamping action has been successfully completed. When the first pressure sensor 116 outputs a positive pressure, the central control module 7 activates the controller of the linear motor 105. The linear motor 105 moves along the slide rail 104. The linear grating 106 is used to precisely control the linear motor 105 to drive the electric cylinder 108 and the chuck structure to move to the ball loading position along the preset trajectory within 1.5 seconds. After reaching the ball loading position, the central control module 7 drives the electric cylinder 108 again to release the badminton clamped by the two groups of arc-shaped clamping plates 117, ensuring that the badminton can be placed in the predetermined serving position 33 with extremely high precision. After completing the placement operation, the central control module 7 controls the controller of the linear motor 105 again to drive the linear motor 105 to drive the electric cylinder 108 and the chuck structure to return to the ball clamping position, thus completing a full process operation cycle of badminton clamping and placement.

[0041] Please refer to Figure 5 , the ball tray structure 3 includes a central disk 34, radial support rods 32, an outer ring 31, and a serving position 33. The central disk 34, the radial supports, the outer ring 31, and the serving position 33 are all rigidly connected. The central disk 34 is connected to the output shaft of the ball tray drive motor 4. The serving position 33 is composed of three support rods with ball trays at the top. The ball trays are set at an inclined angle matching the badminton circle. The position at half of the total length of the installed badminton coincides with the center position of the ball tray, which can ensure that there is enough space for the ball head for the hitting device to strike.

[0042] Please refer to Figure 6, a hitting mechanism 5 for precisely controlling the hitting force is further provided on the hitting support 6. The hitting mechanism 5 is composed of a hitting racket face 501, a permanent magnet 508, a hitting track 507, a starting coil 509, a reset coil 505, a second pressure sensor 506, and a DC power supply 504. The hitting track 507 is arranged on the hitting support 6. The permanent magnet 508 is movably arranged within the hitting track 507. The starting coil 509 is arranged on one side of the hitting track 507. The reset coil 505 is arranged on the inner side of the hitting track 507. The DC power supply 504 is arranged within the hitting track 507. Specifically, the DC power supply 504 is a 24V DC power supply 504, and the DC power supply 504 supplies power to the starting coil 509 and the reset coil 505. A second pressure sensor 506 is further arranged at one end of the starting coil 509. The permanent magnet 508 is connected to the hitting racket face 501 through a net support 502. The hitting racket face 501 and the ball tray structure 3 are horizontally arranged. The net support 502 is movably arranged within a guiding opening 503. The guiding opening 503 is arranged on the outer surface of the hitting track 507. The switching of the hitting and reset power supplies is achieved through a switching circuit, specifically as Figure 3 shown. When hitting the ball, the starting coil 509 is powered on while the reset coil 505 is powered off. According to the principle of magnetic pole attraction and repulsion, at this time, the permanent magnet 508 is pulled by the starting coil 509 and moves along the hitting track 507 in the hitting direction. The permanent magnet 508 drives the hitting racket face 501 to move through the net support 502. When the central position of the permanent magnet 508 reaches the central position of the starting coil 509, the hitting racket face 501 realizes hitting the ball; when the central position of the permanent magnet 508 exceeds the central position of the starting coil 509, the permanent magnet 508 immediately receives an electromagnetic pulling force from the starting coil 509 in the opposite direction, decelerates, stops, and moves in the opposite direction until the central position of the permanent magnet 508 coincides with the central position of the starting coil 509. As long as the distance between the racket face and the ball head is adjusted well, the badminton can be hit out. After hitting the ball, the starting coil 509 is powered off while the reset coil 505 is powered on. According to the principle of magnetic pole attraction and repulsion, the permanent magnet 508 is pulled back to the initial position by the reset coil 505 and waits for the next hitting instruction.

[0043] Specifically, both the starting coil 509 and the reset coil 505 are multi-turn iron-core coils (referred to as electromagnets in engineering), which respectively complete the functions of the starting hitting device and the reset hitting device. The two coils share a DC power supply 504 and are powered through a switching circuit to ensure that only one coil is powered on at each moment.

[0044] Please refer to Figure 7 , further, three sets of net supports 502 are provided. The three sets of net supports 502 are rigidly connected to the hitting racket face 501 at equal intervals in a ring shape, and all three sets of net supports 502 are connected to the permanent magnet 508, improving the evenness of the force received by the hitting racket face 501.

[0045] Please refer to Figure 8, the output end of the second pressure sensor 506 is connected to the input end of the central control module 7. The central control module 7 completes the hitting action by controlling the opening and closing of the start coil 509 and the reset coil 505 through a time relay. The time relay KT is used to complete the switching of the power circuit. KT has a single-pole double-throw switch with a power-on delay switching and a power-off instantaneous switching function. The circuit principle is as follows:

[0046] 1) When the start switch K is closed, the serving starts. At this time, the start coil 509 and the two circuits of the time relay are powered on. The start coil 509 drives the hitting device to hit the ball. At the same time, the single-pole double-throw switch of the time relay is switched to the reset coil 505 circuit after a delay to ensure that the hitting device is fully attracted by the start coil 509 during the first hitting process.

[0047] 2) After the hitting process is completed, the reset coil 505 circuit is powered on, and the hitting device is reset. At the same time, the ball tray rotates. When the ball tray rotates to the right position and the pressure sensor 1 outputs a positive pressure, the central control module 7 triggers the solid-state relay SSR to act and opens the time relay KT circuit. At this time, KT loses power, and the single-pole double-throw switch is instantaneously switched to the start coil 509 circuit, and the start coil 509 is powered on to drive the hitting device to hit the ball.

[0048] 3) When the second pressure sensor 506 outputs 0 pressure, the central control module 7 triggers the solid-state relay to act and closes the KT circuit. At this time, the single-pole double-throw switch is switched to the reset coil 505 circuit after a delay to ensure that the hitting device is fully attracted by the start coil 509 during the hitting process.

[0049] 4) Repeat steps 2) and 3) until the start button is turned off.

[0050] In this application, a high-performance microcontroller STM32 is used as the central control module 7 to control each motor in the device respectively. Its control functions include the following:

[0051] 1) Function selection mode: After turning on the device switch, the system enters the function selection mode. The selectable modes include: start serving, pause serving, and angle adjustment. Select the start serving mode, and the central control module 7 closes the switch K, thus entering the serving mode and operating according to the working method of the hitting mechanism 5 in this application. Select the pause serving mode, and the central control module 7 opens the switch K, and the serving stops. Select the angle adjustment mode, and operate according to the working method of the adjustment mechanism 9.

[0052] 2) Continuous hitting control function: In the start serving mode, when the second pressure sensor 506 outputs a positive pressure, the central control module 7 controls the ball tray drive motor 4 to drive the ball tray to rotate at a speed of 3.75 RPM. It stops rotating every 45° of rotation and sends a stop signal to the central control module 7, and waits for the next rotation instruction. At this time, due to the second pressure sensor 506 outputting a positive pressure, the central control module 7 triggers the solid-state relay SSR to act, instantaneously opening the time relay KT circuit, and the starting coil 509 is energized to drive the hitting mechanism 5 to hit the ball; at this time, since the second pressure sensor 506 outputs 0 pressure, the central control module 7 triggers the solid-state relay to act, closing the KT circuit. At this time, the single-pole double-throw switch is switched to the reset coil 505 circuit after a delay, and the hitting mechanism 5 is reset. The second pressure sensor 506 outputs a positive pressure, and the central control module 7 controls the ball tray drive motor 4 to drive the ball tray to rotate 45° again, and sends a stop signal to the central control module 7. This cycle is repeated to achieve sequential hitting.

[0053] 3) Ball loading function: In the start serving mode, when the second pressure sensor 506 outputs a positive pressure and there is a ball tray stop signal, the central control module 7 triggers the electric cylinder 108 to precisely clamp the badminton ball with the fixture. When the first pressure sensor 116 outputs a positive pressure, the central control module 7 starts the linear motor 105 controller, and precisely controls the linear motor 105 to drive the electric cylinder 108 and the mounting bracket 107 to move along the preset trajectory to the ball loading position within 1 second through the linear grating 106. After reaching the ball loading position, the central control module 7 drives the electric cylinder 108 again to release the clamped badminton ball by the driving chuck structure, ensuring that the badminton ball can be placed at the predetermined ball loading position with extremely high precision. After completing the placement operation, the central control module 7 controls the linear motor 105 controller again, driving the linear motor 105 to drive the electric cylinder 108 and the chuck structure to return to the ball clamping position, thus completing a full process operation cycle of badminton ball clamping and placement.

[0054] 4) Vertical direction angle adjustment function: In the angle adjustment mode, when the second pressure sensor 506 outputs a positive pressure and there is a ball tray stop signal, the central control module 7 drives the first servo motor 92 to complete the up and down rotation of the ball tray in the vertical direction, and the rotation angle range is 45° < α < 60° (where α is the angle between the ball tray surface and the horizontal plane), and the rotation accuracy can reach 0.1°.

[0055] 5) Horizontal direction angle adjustment function: In the angle adjustment mode, when the second pressure sensor 506 outputs a positive pressure and there is a ball tray stop signal, the central control module 7 drives the second servo motor 94 to complete the left and right rotation of the ball tray in the horizontal direction, and the rotation angle range is -20° < β < 20° (where β is the angle between the projection of the ball tray surface axis on the horizontal plane and the longitudinal central axis of the court), and the rotation accuracy can reach 0.1°.

[0056] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A badminton serving training device, comprising a support base (8), characterized in that: An adjustment mechanism (9) for controlling the serving level and longitudinal angle adjustment is further provided on the support base (8); The adjustment mechanism (9) includes a first servo motor (92) and a second servo motor (94). A ball loading mechanism carrier (2) and a hitting support (6) arranged vertically are further provided on the driving shaft of the first servo motor (92). A ball tray driving motor (4) is further provided on the ball loading mechanism carrier (2). A ball tray structure (3) is provided on the output shaft of the ball tray driving motor (4). A ball tray support (10) is further provided on the ball loading mechanism carrier (2). A ball loading mechanism (1) for singly loading the badminton in the ball barrel into the ball tray structure (3) is further provided on the ball tray support (10); Wherein, a hitting mechanism (5) for precisely controlling the hitting force is further provided on the hitting support (6).

2. The badminton serving training device according to claim 1, wherein: The first servo motor (92) is arranged in an installation box (91). The installation box (91) is arranged on a support plate (93). The support plate (93) is arranged at one end of the driving shaft of the second servo motor (94). The second servo motor (94) is arranged on the support base (8).

3. The badminton serving training device according to claim 1, characterized in that: The ball loading mechanism (1) includes a ball barrel support (101). The ball barrel support (101) is arranged at the end of the ball tray support (10). A ball barrel bayonet (102) is further provided on the ball barrel support (101). A slide rail (104) is further provided on the ball loading mechanism carrier (2). A linear motor (105) is further provided on the slide rail (104). An installation frame (107) is provided on the linear motor (105). A sphere clamping assembly is provided on the installation frame (107).

4. The badminton serving training device according to claim 3, characterized in that: The sphere clamping assembly includes an electric cylinder (108). The electric cylinder (108) is arranged in the installation frame (107). A lower movable frame (110) is provided on the piston rod of the electric cylinder (108). The lower movable frame (110) is movably arranged in an adjustment port (109). The adjustment port (109) is arranged on one side of the installation frame (107). An upright frame (111) is further provided at the top of the installation frame (107). A fixed frame (112) is provided on the upright frame (111). Clamping head structures are symmetrically arranged on both sides of the lower movable frame (110) and the fixed frame (112).

5. The badminton serving training device according to claim 4, wherein: The clamping head structure includes a lower connecting rod (113) and an upper connecting rod (114). The lower connecting rod (113) is rotatably connected to the lower movable frame (110). The other end of the lower connecting rod (113) is rotatably connected to the upper connecting rod (114). The other end of the upper connecting rod (114) is connected to a bearing shaft (118). The bearing shaft (118) is rotatably arranged on one side of the fixed frame (112). An adapter frame (115) is provided on one side of the bearing shaft (118). An arc-shaped clamping plate (117) is provided on the adapter frame (115).

6. The badminton serving training device according to claim 5, wherein: A first pressure sensor (116) is provided on the inner arc surface of the arc-shaped splint (117). The first pressure sensor (116) is connected to the central control module (7). The central control module (7) is provided on the support base (8), and the central control module (7) is also connected to the linear grating (106) and the linear motor (105).

7. A badminton serving training device according to claim 1, characterized in that: The ball tray structure (3) includes a central disk (34), spoke-shaped support rods (32), an outer ring (31), and a serving position (33). The central disk (34), the spoke-shaped supports, the outer ring (31), and the serving position (33) are all rigidly connected. The serving position (33) is composed of three support rods with ball holders at the top. The ball holders are set at an inclined angle matching the wool circle. The position at half of the total length of the installed badminton coincides with the center position of the ball holder.

8. The badminton serving training device according to claim 1, wherein: The hitting mechanism (5) is composed of a hitting racket face (501), a permanent magnet (508), a hitting track (507), a starting coil (509), a reset coil (505), a second pressure sensor (506), and a DC power supply (504). The hitting track (507) is provided on the hitting bracket (6). The permanent magnet (508) is movably arranged in the hitting track (507). The starting coil (509) is provided on one side of the hitting track (507). The reset coil (505) is provided on the inner side of the hitting track (507). The DC power supply (504) is provided in the hitting track (507). One end of the starting coil (509) is also provided with a second pressure sensor (506). The permanent magnet (508) is connected to the hitting racket face (501) through the net support (502). The hitting racket face (501) and the ball tray structure (3) are horizontally arranged. The net support (502) is movably arranged in the guiding port (503). The guiding port (503) is provided on the outer surface of the hitting track (507).

9. The badminton serving training device according to claim 8, characterized in that: Three groups of the net supports (502) are provided. The three groups of the net supports (502) are arranged in an annular and equally spaced manner on the hitting racket face (501), and all three groups of the net supports (502) are connected to the permanent magnet (508).

10. A badminton serving training device according to claim 8, characterized in that: The output end of the second pressure sensor (506) is connected to the input end of the central control module (7). The central control module (7) completes the hitting action by controlling the opening and closing of the starting coil (509) and the reset coil (505) through a time relay.

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